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Romansy 14

Theory and Practice of Robots and Manipulators Proceedings of the Fourteenth CISM-IFToMM Symposium

  • Conference proceedings
  • © 2002

Overview

Editors:
  1. Giovanni Bianchi

    1. Polytechnic of Milan, Italy

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  2. Jean-Claude Guinot

    1. Universite Pierre et Marie Curie, Paris, France

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  3. Cezary Rzymkowski

    1. Warsaw University of Technology, Poland

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Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 438)

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Table of contents (57 papers)

  1. Front Matter

    Pages II-XXI
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  3. Mechanics

    1. Front Matter

      Pages 9-9
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    2. Contributions to the Modelling of Human Joints

      • Comel Brisan, Manfred Hiller
      Pages 11-20

    3. Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering

      • Eduardo Castillo-Castañeda, Alejandra Sánchez-Flores, Carlós Lopez-Cajún
      Pages 21-30

    4. Geometric Errors Versus Calibration in Manipulators with Less than 6 DOF

      • Raffaele Di Gregorio, Vincenzo Parenti-Castelli
      Pages 31-38

    5. Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism

      • Antonio Frisoli, Massimo Bergamasco
      Pages 39-48

    6. Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom

      • Thomas Geike, John Mcphee
      Pages 49-58

    7. Neighboring Special Configurations of Parallel Manipulators

      • Victor Glazunov, Alexander Kraynev, Gaguik Rashoyan, Ruslan Bykov, Natalia Novikova
      Pages 59-66

    8. Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form

      • Martin Grotjahn, Johannes Kühn, Bodo Heimann, Heiko Grendel
      Pages 67-76

    9. Pose, Posture, Formation and Contortion in Kinematic Systems

      • J. Rooney, T. K. Tanev
      Pages 77-86

    10. Mises Derivatives of Motors and Motor Tensors

      • Karl Wohlhart
      Pages 87-98

  4. Motion Control

    1. Front Matter

      Pages 99-99
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    2. Control of the Omnidirectional Mobile Robot MARGe

      • Houssem Abdellatif, Dirk Weidemann, Arne Michaelsen, Martin Grotjahn, Bodo Heimann
      Pages 101-108

    3. Admittance Model Haptic Interaction for Large Workspace Teleoperation

      • Fabio Antoniazzi, Paolo Gallina, Alessandro Gasparetto, Giulio Rosati
      Pages 109-118

    4. A Self-tuning Fuzzy Robotic Force Controller

      • Robert Bicker, Zhongxu Hu, Kevin Burn
      Pages 119-126

    5. Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot

      • Jérôme Forêt, Saliha Boudjabbi, Antoine Ferreira, Michel De Mathelin
      Pages 127-139
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Keywords

About this book

Mechanics, Motion Control, Sensing and Programming, Synthesis and Design, Legged Locomotion and Biomechanical Aspects of Robots and Manipulators – world view of the state of the art. Characterization: This volume presents the latest contribution to the theory and practice of modern robotics given by the world recognized scientists from Australia, Canada, Europe, Japan, Mexico, Singapore and USA.

Editors and Affiliations

  • Polytechnic of Milan, Italy

    Giovanni Bianchi

  • Universite Pierre et Marie Curie, Paris, France

    Jean-Claude Guinot

  • Warsaw University of Technology, Poland

    Cezary Rzymkowski

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