Theory and practice of robots and manipulators : proceedings of RoManSy '84, the fifth CISM-IFToMM symposium
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Theory and practice of robots and manipulators : proceedings of RoManSy '84, the fifth CISM-IFToMM symposium
Kogan Page, 1985
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Description and Table of Contents
Description
The RO MAN SY Symposia have played an important role in the development of the theory and, to a lesser extent, the practice of manipulators, walking machines and robots. Based on past experience of previous symposia, which have been held over the last 10 years, the problem arose as to what to do in the future. In other words, in what direction should further symposia be organized? A panel discussion called 'Role of RO MAN SY Symposia' was held on 29 June 1984 during the final plenary session at CISM, Udine, Italy. The Members of the Organizing Committee, Professors Konstantinov, Morecki, Roth, Vukobratovic and Vertut, and other participants were asked to give their opinions on the follow- ing important questions: * should we organize future symposia? if we continue, which form should we choose?: small (60-70 participants, * 35-40 invited papers); big (100-150 participants, 60-80 papers) * what kind of topics should be included?: the more theoretical-oriented; more practical-oriented; both (what proportion?) * how frequently should RO MAN SY Symposia be organized?: every other year; every third year is working well and what should be maintained?
* what * what is not working well and what should be changed to increase the impact of the symposia? would like to underline that most of the participants agree that we should con- tinue to hold our symposia every other year, but to limit their small form, with invited papers at high theoretical level only in mechanics, control of motion,
Table of Contents
Preface.- Editorial Note.- 1 Opening Lecture.- Biomechanical Aspects in Robotics.- 2 Mechanics.- Coordinate Transformations and Inverse kinematics for Industrial Robots.- Industrial Robots with Recuperation of Mechanical Energy.- On the Optimal Selection and Placement of Manipulators.- On the Geometry of Orthogonal and Reciprocal Screws.- Trajectory Planning for Redundant Manipulators in the Presence of Obstacles.- Implementation of Highly Efficient Analytical Robot Models on Microcomputers.- Computer-aided Generation of Multibody-system Equations.- Equations of Motion and Equations of Stress for Robots and Manipulators: An Application of the NEWEUL Formalism.- Modelling of Artificial Manipulators and Computer Simulation of their Dynamics.- Dynamics of Robots and Manipulators Involving Closed Loops.- 3 Control of Motion.- Non-adaptive Dynamic Control for Manipulation Robots: Invited Survey Paper.- Robot Motion Control in Multi-operation assembly.- Some Considerations on Feedback Strategy for Assembly Robots.- Optimal Dynamic Trajectories for Robotic Manipulators.- Approximative Models in Dynamic Control of Robotic Systems.- Keyboard Playing by an Anthropomorphic Robot: Fingers and Arm Model and its Control System of WAM-7R.- Control of Two Co-ordinated Robots by Using an Only-kinematic Model.- A Method for Time-optimal Control of Dynamically Constrained Manipulators.- Bracing Strategy for Robot Operation.- Robot Control and Computer Languages.- Robust Control for Industrial Robots.- Controlling a Six-degrees-of-freedom Welding Robot along a Randomly Oriented Seam with Reduced Sensor Information.- Principles and Algorithms for Industrial Robots Remote Automatic Control.- 4 Man-Intelligent Machine Systems.- Manual Control Communication in Space Teleoperation.- Sensory-based Control for Robots and Teleoperators.- Tele-existence (I): Design and Evaluation of a Visual Display with Sensation of Presence.- New Approach to Robotic Visual Processing.- Representing Three-dimensional Shape.- An Electropneumatic Actuation System for the Utah/MIT Dextrous Hand.- Sensor-aided and/or Computer-aided Bilateral Teleoperator System (SCATS).- 5 Synthesis and Design.- Mechanical and Geometric Design of the Adaptive Suspension Vehicle.- Geometrical and Kinematical Qualitative Characteristics for Functional Capacities of Manipulation Systems.- Manipulation Devices Based on High-class Mechanisms.- Synthesis and Design of Mechanical Hands for Robots with Application of Computer-aided Design.- A New Design Method of Servo-actuators Based on the Shape Memory Effect.- Coverage Optimization of Articulated Manipulators.- 6 Biomechanics of Motion: Locomotion.- Study of Propelling Agents Construction Features of Orthogonal Walking Robots by Using Plane Mechanisms.- A Hierarchically Structured System for Computer Control of a Hexapod Walking Machine.- Realization of Plane Walking by the Biped Walking Robot WL-10R.- Hexapod Walking Robots with Artificial Intelligence Capabilities.- Legged Locomotion Machine Based on the Consideration of Degrees of Freedom.- Trotting and Bounding in a Planar Two-legged Model.- 7 Application and Performance Evaluation.- Determination of Important Design Parameters for Industrial Robots from the Application Point of View: Survey Paper.- Automatic Assembly by Reference Searching and Position Adjustment before Insertion.- Participants.
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