RoManSy 6: Proceedings of the Sixth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

Front Matter....Pages 1-11
Front Matter....Pages 13-17
Advanced Teleoperation Introductory Paper The Advanced Teleoperation Project....Pages 19-27
Advanced Teleoperation (I) Control and Supervision in Computer Aided Teleoperation....Pages 28-42
Advanced Teleoperation (II) The Generalized Information Feedback Concept in Computer-Aided Teleoperation....Pages 43-56
Advanced Teleoperation (III) An Integrated Experiment....Pages 57-67
Analysis of a Robot Wrist Device for Mechanical Decoupling of End-Effector Position and Orientation....Pages 68-77
Front Matter....Pages 79-79
Robot Motion: Configuration Analysis of Redundant and Nonredundant Manipulators....Pages 81-89
Analysis of the Positioning and Orientation Accuracy in 6R Manipulators (Direct Task)....Pages 90-98
A Unified Approach to Modelling of Flexible Robot Arms....Pages 99-106
Solving the Inverse Kinematic Problem for Robotic Manipulators....Pages 107-114
Determination of the Accuracy of Flexible Automatic Positioning Module with Clearances....Pages 115-119
Invariant Kinestatic Filtering....Pages 120-127
Front Matter....Pages 129-129
Redundant Manipulators and Kinematic Singularities The Operational Space Approach....Pages 131-138
Modelling and Simulation of Mechanical Process in Hyperstatical Gripping with n-Contact Points....Pages 139-147
Computer Aided Modelling of Pneumo-Hydraulic Robots....Pages 148-154
A Cartesian Model of Manipulator Kinematics....Pages 155-163
A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist....Pages 164-168
Dynamic Equations of General Robots Using Kane’s Method....Pages 169-176
The Role of Delay in Robot Dynamics....Pages 177-183
Front Matter....Pages 185-185
Smart Hand Systems for Robotics and Teleoperation....Pages 187-197
A Mathematical Model of a Flexible Manipulator of the Elephant’s-Trunk-Type....Pages 198-206
Front Matter....Pages 185-185
Analytical Design of Two-Revolute Open Chains....Pages 207-214
On Fundamental Study of Micro Mechanical Gripper Using Shape Memory Alloy (SMA) Actuator....Pages 215-220
The Kinematic Design and Mass Redistribution of Manipulator Arms for Decoupled and Invariant Inertia....Pages 221-245
Graphical-Interactive System for CAD and Simulation of Manipulation Systems....Pages 246-252
Front Matter....Pages 253-253
Force Feedback in Telemanipulators....Pages 255-266
Theoretical and Experimental Investigations of Optical Fibre Reflective Sensors for Robotics....Pages 267-274
Task Specification and Closed Loop Control of Manipulators in the Presence of External Sensors....Pages 275-282
Adaptative Force Control of Grippers Taking into Account the Dynamics of Objects....Pages 283-295
Bilateral Remote Control with Dynamics Reflection....Pages 296-308
Front Matter....Pages 309-309
Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot....Pages 311-321
A Model-Based Expert System for Strategical Control Level of Manipulation Robots....Pages 322-333
Robot-Task Adaptability by Semi-Local Correction without Contact....Pages 334-341
Robot Control Synthesis in Conjunction with Moving Workpieces....Pages 342-349
Dynamic Command Motion Tuning for Robots A Self Learning Algorithm....Pages 350-357
Front Matter....Pages 359-359
C-Surface Theory Applied to Force-Feedback Control of Robots....Pages 361-368
Experimental Investigation of Active Force Control of Robot and Manipulator Arms....Pages 369-379
Automatic Grasp Planning. An Operation Space Approach....Pages 380-387
A Method of Optical Processing in the Robot Vision....Pages 388-394
Tridimensional Optical Syntaxer....Pages 395-402
Front Matter....Pages 403-403
Towards Generalized Concepts and Tools for Unconventional Mobile Robots General Languages, Mobility Modes....Pages 405-411
Front Matter....Pages 403-403
Mobile Robotic Systems for Use in Unstructured Terrain....Pages 412-419
Wall Climbing Vehicle Using Internally Balanced Magnetic Unit....Pages 420-427
Experimental Development of a Walking Transport Robot....Pages 428-435
Legs that Deform Elastically....Pages 436-443
Features of Mechanisms Synthesis of Walking Robot Propelling Agents....Pages 444-454
Avoiding Obstacles by a Mobile Robotized Vehicle....Pages 455-461
Front Matter....Pages 463-463
The Automation of the Mine Support Erection Technology with Remotely-Controlled Manipulators....Pages 465-471
Experimental Investigations of Robots and Manipulators....Pages 472-479
Minimization of Vibrations of a Gantry Manipulator During Positioning....Pages 480-487
Experimental Evaluation of Feedforward and Computed Torque Control....Pages 488-495
Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics....Pages 496-503
Front Matter....Pages 505-505
Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand....Pages 507-516
Progress towards a Robotic Aid for the severely Disabled....Pages 517-523
Logical Structures for Collision Avoidance in Assembly with Robots....Pages 524-534
Repositioning-Unit for very Fine and Accurate Displacements. Analysis and Design....Pages 535-541
Front Matter....Pages 543-543
Polyarticulated Mechanical Structure for Decoupling the Position and Orientation of a Robot....Pages 545-554
Application of ℓ -Coordinates in Robotics....Pages 555-563
Design of Spring Mechanisms for Balancing the Weight of Robots....Pages 564-567
Structural and Geometrical Systematization of Spatial Positioning Kinematic Chains Employed in Industrial Robots....Pages 568-575
Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment....Pages 576-587
Front Matter....Pages 589-589
Contribution to Solving Dynamic Robot Control in Machining Process....Pages 591-602
An Approach to Development of Real-Time Robot Models....Pages 603-614
Time-Optimal Robotic Manipulator Task Planning....Pages 615-622
Time-Optimal Motions of Some Robotic Systems....Pages 623-632
Frequency Space Synthesis of a Robust Dynamic Command....Pages 633-641
Structure Strategy Problem on a Redundant Manipulator....Pages 642-651
Back Matter....Pages 653-656