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RoManSy 9

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

  • Conference proceedings
  • © 1993

Overview

Editors:
  1. A. Morecki
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  2. G. Bianchi
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  3. K. Jaworek
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 187)

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Table of contents (45 papers)

  1. Front Matter

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  2. On micromechanisms and their researches and developments

    • Teru Hayashi
    Pages 1-12

  3. New manipulators with simple inverse kinematics

    • Constantinos Mavroidis, Bernard Roth
    Pages 13-22

  4. The semigraphical determination of all real inverse kinematic solutions of general six-revolute manipulators

    • Jorge Angeles, Kourosh E. Zanganeh
    Pages 23-32

  5. An approach to symbolic kinematics of multiloop robot mechanisms

    • Pietro Fanghella, Carlo Galletti
    Pages 33-40

  6. Analytical form solution of the direct kinematics of a 4–4 fully in-parallel actuated six degree-of-freedom mechanism

    • C. Innocenti, V. Parenti-Castelli
    Pages 41-50

  7. Characterization of redundancy in spatial closed kinematic chains

    • S. V. Sreenivasan, K. J. Waldron
    Pages 51-60

  8. Finding collision-free trajectory for redundant manipulator by local information available

    • Mirosław Galicki, Adam Morecki
    Pages 61-71

  9. Some effects of the joint's drive systems torsional compliances and the velocity profiles on the 5R manipulator's dynamic accuracy

    • Jozef Knapczyk, Andrez j Stepniewski
    Pages 73-84

  10. Comparing structures of stiffness matrices using invariants

    • Michael Griffis, Joseph Duffy
    Pages 85-92

  11. Kineto-static analysis of cooperative robot manipulators achieving dexterous configurations

    • Pasquale Chiacchio, Stefano Chiaverini, Bruno Siciliano
    Pages 93-100

  12. Geometrical decomposition of robot elasticity

    • Harvey Lipkin, Timothy Patterson
    Pages 101-110

  13. A life devoted to TMM and robotics: Professor M. S. konstantinov

    • S. Patarinski
    Pages 111-120

  14. Multi-criteria optimization of robots for planar trajectory operations

    • M. S. Konstantinov, P. J. Genova, K. G. Ganchev
    Pages 121-127

  15. Planning motions of robotic systems subject to force and friction constraints with an application to a robotic climber

    • Akhil Madhani, Steven Dubowsky
    Pages 129-139

  16. Feasibility of trajectories in cluttered environments and automatic positioning of the robot

    • Fabienne Reynier, Patrick Chedmail, Philippe Wenger
    Pages 140-149

  17. A new scheme for hybrid force-position control

    • Véronique Perdereau, Michel Drouin
    Pages 150-159

  18. An adaptive implicit hybrid position force control of robots: Implementation problems

    • Dragan M. Stokić, Dragoljub T. Šurdilović
    Pages 160-169

  19. Parallel computing of symbolic robot models and control laws: Theory and application on advanced multiprocessor architectures

    • N. Kirćanski, T. Petrović, A. Timčenko
    Pages 170-178

  20. Decoupling and suboptimal control for robots

    • F. L. Chernousko
    Pages 179-185
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Keywords

About this book

This book comprises the proceedings of one of the most important international conferences in robotics. The individual contributions focus primarily on mechanical engineering and control and are unique in describing work completed in Eastern and Central European Countries and the former USSR. The annual symposia play an important role in the development of the theory and practice of manipulators, walking machines, robots, and the papers present significant contributions from experts in the field. The connection between biomechanics, robotics, and other related sciences is examined, as well as the biomechanical aspects currently applied in the theory and practice of manipulators and robots. The book is divided into sections covering mechanics, synthesis and design, sensing, control of motion, mobile robots and walking machines, application and performance evaluation.

Bibliographic Information

  • Book Title: RoManSy 9

  • Book Subtitle: Proceedings of the Ninth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

  • Editors: A. Morecki, G. Bianchi, K. Jaworek

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/BFb0031425

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London 1993

  • Softcover ISBN: 978-3-540-19834-5Published: 24 May 1993

  • eBook ISBN: 978-3-540-39315-3Published: 11 December 2005

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XXXI, 441

  • Number of Illustrations: 151 b/w illustrations

  • Topics: Control, Robotics, Mechatronics

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