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Theory and Practice of Robots and Manipulators

Proceedings of RoManSy 10: The Tenth CISM-IFToMM Symposium

  • Conference proceedings
  • © 1995

Overview

Editors:
  1. A. Morecki

    1. Warsaw University of Technology, Polish

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  2. G. Bianchi

    1. Polytechnical University of Milan, Italy

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  3. K. Jaworek

    1. Warsaw University of Technology, Polish

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Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 361)

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Table of contents (52 papers)

  1. Front Matter

    Pages ii-xiv
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  2. Opening lecture

    1. Front Matter

      Pages 1-1
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    2. Past, Present and Future of RoManSy Symposia Where are we going ?

      • A. Morecki
      Pages 3-17

  3. Mechanics I

    1. Front Matter

      Pages 19-19
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    2. Position Analysis of the Rhombic Assur Group

      • K. Wohlhart
      Pages 21-31

    3. A New Method for the Inverse Kinematics

      • S. Regnier, C. Vougny, F. Ben Ouezdou, D. Duhaut
      Pages 33-38

    4. An Algebraic Formulation for the Workspace Determination of General 4R Manipulators

      • M. Ceccarelli
      Pages 39-48

    5. Discrete Calculation of Set Points in Mechanism Motion Control

      • K. Nevala, T. Leinonen
      Pages 49-56

  4. Mechanics II

    1. Front Matter

      Pages 57-57
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    2. Analysis of the Acceleration Characteristics of Manipulators

      • A. Bowling, O. Khatib
      Pages 59-64

    3. Dynamics of Elastic Robot Arms with Varying Length

      • D. Söffker
      Pages 65-70

  5. Mechanics III

    1. Front Matter

      Pages 71-71
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    2. An Application of the Rigid Finite Element Method to Modelling of Flexible Structures

      • E. Wittbrodt, S. Wojciech
      Pages 73-78

    3. Sensitivity Analysis of Multibody Systems

      • F. Pfister, M. Fayet, A. Jutard
      Pages 79-84

    4. Singularity Analysis of Spherical Parallel Manipulators

      • H. R. M. Daniali, P. J. Zsombor-Murray, J. Angeles
      Pages 85-90

    5. Dynamics of Evolving Systems

      • A. Barraco, B. Cuny
      Pages 91-98

  6. Control of Motion I

    1. Front Matter

      Pages 99-99
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    2. Anthropomorphic Telemanipulation System in Terminus Control Mode

      • B. M. Jau, M. A. Lewis, A. K. Bejczy
      Pages 101-111

    3. Path Planning of Redundant Manipulator and Determination of its Configuration of Bending Elastic Plate Spring

      • R. Katoh, T. Fujimoto, T. Yamashita
      Pages 113-118

    4. Redundancy Resolution for two Cooperative Spatial Manipulators with a Sliding Contact

      • P. Chiacchio, S. Chiaverini, B. Siciliano
      Pages 119-124
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Keywords

About this book

The CISM-IFToMM Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the Tenth Symposia present a world view to date of the state-of-the-art, including a unique record of the results achieved in central and eastern Europe.

Editors and Affiliations

  • Warsaw University of Technology, Polish

    A. Morecki, K. Jaworek

  • Polytechnical University of Milan, Italy

    G. Bianchi

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