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Kinematic and Dynamic Issues in Sensor Based Control

  • Conference proceedings
  • © 1990

Overview

Editors:
  1. Gaynor E. Taylor

    1. Department of Electronic Engineering, University of Hull, Hull, UK

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Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 57)

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Table of contents (24 papers)

  1. Front Matter

    Pages I-XI
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  2. Modelling Techniques: General Kinematic and Dynamic Issues

    1. Front Matter

      Pages 1-1
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    2. Sensory-Based Control Robustness Issues and Modelling Techniques Application to Proximity Sensing

      • Bernard Espiau
      Pages 3-44

    3. The Inverse Function Approach to Sensor-Driven Kinematic Control of Redundant Manipulators

      • Charles W. Wampler II
      Pages 45-58

  3. Sensor Signal Processing

    1. Front Matter

      Pages 59-59
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    2. Sensor Data Processing for Flexible Manufacturing Processes

      • A. Jacubasch, H. Franke, H.-B. Kuntze
      Pages 61-80

    3. Self-Tuning Algorithms in Robot Joint Control and Sensor Signal Processing

      • P. E. Wellstead
      Pages 81-95

    4. A Sensory Data-Driven Rule-Based Strategy for Error Recovery in Robotic Assembly

      • Helen C. Shen, Klaus K. W. Selke, Graham E. Deacon, Alan Pugh
      Pages 97-110

  4. Force Control

    1. Front Matter

      Pages 111-111
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    2. Hybrid Position Force Control Implementation on a Parallel Manipulator

      • Claude Reboulet, Thierry Berthomieu
      Pages 113-125

    3. Sensor Based Control of Robot Movement and Force

      • J. R. Hewit
      Pages 127-142

    4. Force-feedback control of parallel kinematics manipulators

      • Jean-Pierre Merlet
      Pages 143-158

  5. Further Control Topics

    1. Front Matter

      Pages 159-159
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    2. Recent Advances in Experimental Robot Control

      • Pradeep K. Khosla
      Pages 161-178

    3. On the Optimal Path Planning for Robot Manipulators

      • R. V. Mayorga, A. K. C. Wong
      Pages 179-200

    4. Frequency Domain Analysis of Robot Joint Dynamics

      • Sebastian Engell, Andreas Kleiner
      Pages 201-219
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Keywords

About this book

This volume contains a series of papers originally presented at a NATO Advanced Research Workshop (ARW) entitled Kinematic and Dynamic Issues in Sensor Based Control. The workshop, one of a series concerned with topics in sensory robotics, took place at II Ciocco, Castelvecchio di Pascoli, Italy in October 1987. Attendance was by invitation only and the majority of participants are recognised leaders in their field- some from the robotics community, others with a more general control background. The main topics of interest were grouped into eight sessions represented by the eight main sections of the book: 1: Modelling Techniques: General Kinematic and Dynamic Issues 2: Sensor Signal Processing 3: Force Control 4: Further Control Topics 5: Vision Based Control 6: Further Kinematic and Dynamic Issues 7: Computational Issues 8: Learning from Sensor Input Also included are brief reports of the roundtable discussions which sought to determine important future directions of research in this area. My thanks to all those who made the workshop possible: The NATO Scientific Affairs Division and the panel on Sensory Systems for Robotic Control who provided most of the financial support; the workshop committee, Dr. B. Espiau, Dr. P. Coiffet, Dr. P.

Editors and Affiliations

  • Department of Electronic Engineering, University of Hull, Hull, UK

    Gaynor E. Taylor

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