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Romansy 19 - Robot Design, Dynamics and Control

Proceedings of the 19th CISM-IFtomm Symposium

  • Conference proceedings
  • © 2013

Overview

Editors:
  1. Vincent Padois

    1. Université Pierre Et Marie Curie, Paris, France

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  2. Philippe Bidaud

    1. Université Pierre Et Marie Curie, Paris, France

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  3. Oussama Khatib

    1. Stanford University, Stanford, USA

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  • Covers a large range of topics in robotics
  • Provides both theoretical and practical developments
  • Contains original research work

Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 544)

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Table of contents (47 papers)

  1. Front Matter

    Pages 0-1
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  2. Parallel Robots Modelling and Analysis

    1. Front Matter

      Pages 1-1
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    2. Wire-driven Parallel Robot: Open Issues

      • Jean-Pierre Merlet
      Pages 3-10

    3. A New 3-DOF Translational Parallel Manipulator: Kinematics, Dynamics, Workspace Analysis

      • Pavel Laryushkin, Victor Glazunov
      Pages 11-18

    4. On the Accuracy of N-1 Wire-driven Parallel Robots

      • Jean-Pierre Merlet
      Pages 19-26

    5. Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators

      • A. Chaker, A. Mlika, M. A. Laribi, L. Romdhane, S. Zeghloul
      Pages 27-34

    6. Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom

      • J. I. Ibarreche, Oscar Altuzarra, V. Petuya, A. Hernández, C. Pinto
      Pages 35-42

    7. Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence

      • Felix Pasila, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti Castelli
      Pages 43-50

    8. On the Addition of Degrees of Freedom to Force-balanced Linkage

      • V. van der Wijk, Just L. Herder
      Pages 51-58

  3. Parallel Robots Design, Calibration and Control

    1. Front Matter

      Pages 59-59
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    2. Design Challenges in the Development of Fast Pick-and-place Robots

      • Jorge Angeles
      Pages 61-68

    3. A Low Energy Consumption Solar Tracker Based in Parallel Kinematics

      • Oscar Altuzarra, Iván Seras, Erik Macho, Jokin Aginaga
      Pages 69-76

    4. Calibration of a Fully-Constrained Parallel Cable-Driven Robot

      • Julien Alexandre dit Sandretto, David Daney, Marc Gouttefarde
      Pages 77-84

    5. Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory

      • Sébastien Briot, Maxime Gautier
      Pages 85-92

    6. Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 2: Case Study

      • Sébastien Briot, Maxime Gautier
      Pages 93-100

    7. On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots

      • Miguel Díaz-Rodriguez, Vicente Mata, Angel Valera, Sebastian Provenzano
      Pages 101-108

    8. Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

      • Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger
      Pages 109-116

    9. A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator

      • M. Banitalebi Dehkordi, A. Frisoli, E. Sotgiu, M. Bergamasco
      Pages 117-124

  4. Robot Design

    1. Front Matter

      Pages 125-125
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    2. Portable Posture Guiding System With Visual, Verbal Feedback for Upper Extremity

      • Wei-Ting Yang, Ke Yeng Tee, I-Ming Chen, Albert Causo, Song Huat Yeo
      Pages 127-134
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Keywords

About this book

Parallel robots modeling and analysis.- Parallel robots design, calibration and control.- Robot design.- Robot control.- Mobile robots design, modeling and control.- Humans and humanoids.- Perception.

The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.

Editors and Affiliations

  • Université Pierre Et Marie Curie, Paris, France

    Vincent Padois, Philippe Bidaud

  • Stanford University, Stanford, USA

    Oussama Khatib

Bibliographic Information

  • Book Title: Romansy 19 - Robot Design, Dynamics and Control

  • Book Subtitle: Proceedings of the 19th CISM-IFtomm Symposium

  • Editors: Vincent Padois, Philippe Bidaud, Oussama Khatib

  • Series Title: CISM International Centre for Mechanical Sciences

  • DOI: https://doi.org/10.1007/978-3-7091-1379-0

  • Publisher: Springer Vienna

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: CISM Udine 2013

  • Hardcover ISBN: 978-3-7091-1378-3Published: 08 November 2012

  • Softcover ISBN: 978-3-7091-4845-7Published: 23 August 2016

  • eBook ISBN: 978-3-7091-1379-0Published: 20 January 2013

  • Series ISSN: 0254-1971

  • Series E-ISSN: 2309-3706

  • Edition Number: 1

  • Number of Pages: XII, 390

  • Topics: Control, Robotics, Mechatronics, Vibration, Dynamical Systems, Control

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