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Romansy 13

Theory and Practice of Robots and Manipulators

  • Conference proceedings
  • © 2000

Overview

Editors:
  1. Adam Morecki

    1. Inst. of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warszawa, Poland

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  2. Giovanni Bianchi

    1. Polytechnic of Milan, Italy

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  3. Cezary Rzymkowski

    1. Inst. of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warszawa, Poland

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Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 422)

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Table of contents (52 papers)

  1. Front Matter

    Pages ii-xi
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  2. Opening Lecture

    1. Front Matter

      Pages 1-1
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    2. The Theoretical Basis for the Mechanical Aspects of Robot Design

      • Bernard Roth
      Pages 3-12

  3. General Lecture

    1. Front Matter

      Pages 13-13
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    2. New Frontiers in Robotics

      • Miomir Vukobratovic
      Pages 15-39

  4. Mechanics

    1. Front Matter

      Pages 41-41
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    2. Coordination of Parallel Arrays of Binary Actuators

      • Po-Hua Yang, K. J. Waldron
      Pages 43-50

    3. A Formal-Numerical Approach to Determine the Accuracy of a Parallel Robot in a 6D Workspace

      • J.-P. Merlet
      Pages 51-58

    4. Symbolic Calculation of Robots’ Base Reaction-Force/Torque Equations with Minimal Parameter Set

      • Martin Grotjahn, Bodo Heimann
      Pages 59-65

    5. Mechanics of the New UWA Robot

      • Karol Miller
      Pages 67-74

    6. On Kinematic Singularities of Nonholonomic Robotic Systems

      • Krzysztof TchoÅ„
      Pages 75-84

    7. Experimental Determination of Robot Workspace by Means of CATRASYS (Cassino Tracking System)

      • Marco Ceccarelli, Erika Ottaviano, Maria Toti
      Pages 85-92

    8. A Pantograph Mechanism With Large-Deflective Hinges for Miniature Surface Mount Systems

      • Mikio Horie, Toru Uchida, Daiki Kamiya
      Pages 93-102

    9. Adaptive λ-Tracking for Rigid Manipulators

      • Alicja Mazur, Carsten Schmid
      Pages 103-112

    10. Mobility Analysis of the 3-PSP Mechanism

      • Raffaele Di Gregorio, Vincenzo Parenti-Castelli
      Pages 113-120

    11. Detaching and Grasping Strategy Inspired by Human Behavior

      • Makoto Kaneko, Tatsuya Shirai, Toshio Tsuji
      Pages 121-130

    12. Cross-Country Capabilities of a Walking Robot: Geometrical, Kinematic and Dynamic Investigation

      • V. E. Pavlovsky, A. K. Platonov
      Pages 131-138

    13. Optimization of Robot Gripper Parameters Using Genetic Algorithms

      • Stanislaw Krenich, Andrzej Osyczka
      Pages 139-146

    14. Design of Spatial Fixed-Sequence Manipulator for Precise and Approximate Reproduction of Gripper Predetermined Positions

      • Vigen Arakelian, Marc Dahan
      Pages 147-154

  5. Control of Motion

    1. Front Matter

      Pages 155-155
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Keywords

About this book

Characterisation: this volume presents the latest contribution to the theory and practice of modern robotics given by the world recognised scientists from Australia, Canada, Europe, Japan and USA.

Editors and Affiliations

  • Inst. of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warszawa, Poland

    Adam Morecki, Cezary Rzymkowski

  • Polytechnic of Milan, Italy

    Giovanni Bianchi

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