Robot Control 1991 book cover

Robot Control 1991

This volume contains 92 papers on the state-of-the-art in robotics research. In this volume topics on modelling and identification are treated first as they build the basis for practically all control aspects. Then, the most basic control tasks are discussed i.e. problems of inverse kinematics. Groups of papers follow which deal with various advanced control aspects. They range from rather general methods to more specialized topics such as force control and control of hydraulic robots. The problem of path planning is addressed and strategies for robots with one arm, for mobile robots and for multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control.

Audience
For scientists working in the field of robotics development.

Included in series
IFAC Symposia Series

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Published: June 1992

Imprint: Pergamon

ISBN: 978-0-08-041276-4

Contents

  • Section headings and selected papers: Invited Paper. Adaptive interfaces for robots, L. Nemes. Modelling and Identification. Self-tuning control of a commercial manipulator based on an inverse dynamic model, G. Seeger. Off-line identification/estimation of parameterss for two D.O.F. SCARA robot, R. Safaric et al. Modelling and Control of Frictional Effects. Coulomb friction and simulation problems, S. Uran et al. Friction compensation via disturbance observer, C. O. Bruce-Boye. Topics on Inverse Kinematics. Direct kinematics of the Reverse Stewart Platform Mechanism, C. Innocenti & V. Parenti-Castelli. A fast algorithm for inverse kinematics of unsolvable manipulators-semi-iterative and semi-analytic method, Wen Han Qian & Yu Chen Tian. Advanced Control Concepts. Model-based force sensing for an industrial robot by using drive signals, J. Bohm. A fuzzy expert tuner for robot controller, D. Popovic & R. S. Shekhawat. Force/Position Control. Hybrid force-position control for robots in contact with dynamic environments, A. De Luca & C. Manes. An IJC based force-position control of a robot arm, P. Bolzern et al. Control of Hydraulic Robots. CAD and implementation of digital controllers for the fast TUD-hydraulic test robot manipulator, F. Conrad et al. Nonlinear control of a hydraulic robot, N. Erhard. Path Planning for One Robotic Arm. Uncertainity modelling in configuration space for robotic motion planning, L. Basanez & R. Suarez. Fast collision-free motion-planning for robot manipulators based on parallelized algorithms, B. Fink & H-D. Wend. Mobile Robots. Multiple-Arms Robots. Modelling and Control of Flexible Robots. Computational Aspects. Feasibility of parallelization of nonlinear feedback method of robot arm control, A. K. Ramadorai et al. Transputer network controls robot axes, P. M. Lauer & U. Kunz. Software Tools for Simulation and Control. Sensors and their Application. Force and torque sensorial subsystem of robot wrist, V. Chudy et al. Proximity matrix sensor image processing, D. Biman. Miscellaneous. Author Index. Keyword Index.

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