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Robot control 1991 (SYROCO '91) : selected papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16-18 September 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. Grou...

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Bibliographic Details
Corporate Authors: SYROCO '91 Vienna, Austria, ScienceDirect (Online service), International Federation of Automatic Control
Other Authors: Troch, I. (Inge), Desoyer, Kurt, Kopacek, Peter
Format: Conference Proceeding eBook
Language:English
Published: Oxford ; New York : Published for the International Federation of Automatic Control by Pergamon Press, 1992.
Edition:1st ed.
Series:IFAC symposia series ; 1992, no. 7.
Subjects:
Robots > Control systems > Congresses.
Robots > Systèmes de commande > Congrès.
Robots > Control systems
Industrial robots > Control
Electronic books.
Congress
proceedings (reports)
Conference papers and proceedings
Conference papers and proceedings.
Actes de congrès.
Online Access:Connect to the full text of this electronic book
Table of Contents:
  • Invited Paper
  • Adaptive Interfaces for Robots / L. Nemes
  • Modelling and Identification
  • Comparison of Descriptor Models and Reduced Dynamic Models for Constrained Robots / K. A. Tahboub, Th. Schmidt, R. Schupphaus and P. C. Muller
  • Dynamic Model Simplification of Industrial Robot Manipulators / A. Aubin, C. Canudas De Wit and H. Sidaoui
  • Robotics in Space: Disturbances of Payloads / R. Kratschmann
  • On the Statistical Modelling of Mechanical Manipulators / A. M. F. Galhano, J. A. Tenreiro Machado and J. L. Martins De Carvalho
  • Minimum Dynamics Parameters of Robot Models / H. Kawasaki and K. Kanzaki
  • Self-tuning Control of a Commercial Manipulator Based on an Inverse Dynamic Model / G. Seeger
  • Off-line Identification/Estimation of Parameters for Two D.O.F. SCARA Robot / R. Safaric, S. Uran and K. Jezernik
  • On the Mathematical Modeling of ROV's / L. Bevilacqua, W. Kleczka and E. Kreuzer
  • Modelling and Control of Frictional Effects
  • Coulomb Friction and Simulation Problems / S. Uran, K. Jezernik and I. Troch
  • Position Control for Elastic Pointing and Tracking Systems with Gear Play and Coulomb Friction and Application to Robots / U. Schafer and G. Brandenburg
  • Friction Compensation Via Disturbance Observer / C. O. Bruce-Boye
  • Topics on Inverse Kinematics
  • Direct Kinematics of the Reverse Stewart Platform Mechanism / C. Innocenti and V. Parenti-Castelli
  • A Solution to the Generalized Inverse Kinematic Problem / S. Nicosia, A. Tornambe and P. Valigi
  • A Fast Algorithm for Inverse Kinematics of Unsolvable Manipulators
  • Semi-iterative and Semi-analytic Method / Wen Han Qian and Yu Chen Tian
  • Issues in Acceleration Resolution of Robot Redundancy / A. De Luca and G. Oriolo
  • Resolving Redundancy Through a Weighted Damped Least-squares Solution / J. R. Sagli, I. Spangelo and O. Egeland
  • Backwards Solution of an Eight-degrees-of-freedom Kinematic Structure / H. Heiss, G. Kiener and G. Kummetsteiner
  • Advanced Control Concepts
  • Six Degree-of-freedom Task Space Control for the PUMA 560 Manipulator: An Experimental Study / T. J. Tarn, G. T. Marth, A. K. Ramadorai and A. K. Bejczy
  • Robust Control of Robot Manipulators with Fast Dynamics / P. Myszkorowski
  • Sensitivity Analysis of Robot Control Systems Based on Disturbance Observers / R. Gorez and D. Galardini
  • Model-based Force Sensing for an Industrial Robot by Using Drive Signals / J. Bohm
  • Advanced Industrial Robot Control Using Extended Kalman Filter / I. J. Rudas and F. L. N.-Nagy
  • On Line Discrete-time Control of Industrial Robots / A. Zagorianos, S. Tzafestas and G. Stavrakakis
  • Point-to-Point Motion of Robotic Manipulators: Dynamics, Control Synthesis and Optimization / P. A. Marinov and P. Kiriazov
  • Adaptive 'PD+' Control of Rigid Robot Manipulators / H. Berghuis, P. Lohnberg and H. Nijmeijer
  • Passivity of Robot Dynamics in Learning Control / S. Arimoto and T. Naniwa
  • A Fuzzy Expert Tuner for Robot Controller / D. Popovic and R. S. Shekhawat
  • Self-tuning Self-organising Fuzzy Robot Control / D. Stipanicev, M. De Neyer and R. Gorez
  • Hybrid Force-position Control for Robots in Contact with Dynamic Environments / A. De Luca and C. Manes
  • On the Stability of a Force/Position Control Scheme for Robot Manipulators / S. Chiaverini and B. Siciliano
  • An IJC Based Force-position Control of a Robot Arm / P. Bolzern, G. Ferretti, A. Locatelli and C. Maffezzoni
  • Software System for Simulation and Control Synthesis of Robots for Metal Machining Processes / D. Stokic, M. Vukobratovic, A. Rodic and D. Surdilovic
  • Force Control for Tracking a Set of Tasks in Presence of Constraints / W. B. Gao, M. Cheng and D. Xiao
  • Control of Hydraulic Robots
  • On the Model-based Control of a Hydraulic Large Range Robot / H.-B. Kuntze, U. Hirsch, A. Jacubasch, F. Eberle and B. Goller
  • CAD and Implementation of Digital Controllers for the Fast TUD-hydraulic Test Robot Manipulator / F. Conrad, P. H. Sorensen, E. Trostmann and J. J. Zhou
  • Nonlinear Control of a Hydraulic Robot / N. Erhard
  • Path Planning for One Robotic Arm
  • Minimal Power Consumption for an Industrial Robot with 6 Axes / S. Lewald, G. Abba, T. Rutschke, E. Ostertag and O. v. Stryk
  • Object Contour Surface Generation for Robotic Applications / M. Mellado and J. Tornero
  • Optimal Scheduling of Functional Points of a Trajectory Generalization to Cluttered Environment / J.-F. Petiot, P. Chedmail and J.-Y. Hascoet
  • Predictive Control of a Manipulator in a Cluttered Environment / A. Denker, D. B. Tukel and O. Kaynak
  • Uncertainty Modelling in Configuration Space for Robotic Motion Planning / L. Basanez and R. Suarez
  • Fast Collision-free Motion-planning for Robot Manipulators Based on Parallelized Algorithms / B. Fink and H.-D. Wend
  • Path-planning Solution Based on a Potential Field Non Uniformly Distributed / H. Amaris, A. Barrientos, C. Balaguer and R. Araci
  • Mobile Robots
  • A Stochastic Control Framework for Moving Vehicles in Changing Environments / M. Papageorgiou and T. Bauschert
  • A Neural Controller for Mobile Robots / M. B. Zaremba and E. Porada
  • Computational Complexity of Path Planning Algorithms Based on Safe Triangles and Quadtree as Work Space Representation: A Comparison / Xiaozhao Mao
  • Control Architecture for an Electrical, Actively Balanced Multi-leg Robot, Based on Experiments with a Planar One Leg Machine / K. V. Papantoniou
  • Multiple-Arms Robots
  • An Object-directed Pathplanning System for Multiple Robots with Singularity-coping Properties / E. Freund and P. Kaever
  • Flexible, Online Collision Avoidance in Multi-robot Systems / U. Borgolte
  • Collision Avoidance of the Delft Intelligent Assembly Cell / G. Honderd, T. Rieswijk, W. Jongkind and B. Verwer
  • A Control System for Two Robot Arms Coordination / D. K. Qu, D. L. Tan, C. J. Zhang, X. B. Li and Z. W. Wu
  • Heuristic Decentralized Control of Multi Arms Coordinated Systems / Xiaoming Xu
  • Modelling and Control of Flexible Robots
  • Slenderness of Flexible Robot Links: Dynamic Model Selection / Wang Guoli, Lu Guizhang and Liu Jingtai
  • Simulation of Robots with Flexible Links / K. Wollhaf and H.-J. Buxbaum
  • Dynamic Modelling of Industrial Manipulator Joints / G. Magnani, G. Rizzi and P. Bologna
  • Energy Based Determination of Identifiable Parameters of Flexible Link Robots / M. Gautier, C. M. Pham and P. Chedmail
  • An Extended Load Compensation Method to Control Flexible Joint Robots / P. De Jaegere and H. Van Brussel
  • Composite Computed Torque Control of Robots with Elastic Motor Transmissions / I. M. M. Lammerts, F. E. Veldpaus and J. J. Kok
  • A PD Control Law for Trajectory Tracking of flexible Joint Robots / S. Nicosia and P. Tomei
  • Path Following for a Flexible Joint Robot / O. Dahl
  • Adaptive Trajectory Tracking for Flexible Joint Manipulators Without Joint Acceleration Measurement / B. Brogliato and R. Lozano-Leal
  • Dynamic Control of Flexible Joint Robots with Constrained End-effector Motion / K. P. Jankowski and H. A. Elmaraghy
  • Quasi-static Compensation of Force Errors for Flexible Manipulators / A. Bicchi and C. Melchiorri
  • On the Control of the Flexible Manipulator Arm / J. Petric and V. Kecman
  • Iterative Learning Control of a One-link Flexible Manipulator / M. Poloni and G. Ulivi
  • State-feedback Controller for a Two-degree-of-freedom Flexible Robot Arm / J. Van Amerongen, L. Kruise, P. Lohnberg and M. J. L. Tiernego
  • Flexibility Control of a Lightweight Robot Arm Module / J. Cordes, S. Graul and W. Schulz
  • Computational Aspects
  • Analytical Calculation of the Feedforwards up to Their Second Derivatives and Realization of an Optimal Spatial Spline Trajectory for a 6-DOF Robot / H. Schutte, W. Moritz and R. Neumann
  • Feasibility of Parallelization of Nonlinear Feedback Method of Robot Arm Control / A. K. Ramadorai, T. J. Tarn and A. K. Bejczy
  • Transputer Network Controls Robot Axes / P. M. Lauer and U. Kunz
  • Software Tools for Simulation and Control
  • ROPSIM, A Robot Off-line Programming and Real-time Simulation System Including Dynamics / E. Trostmann, F. Conrad, L. F. Nielsen and S. Trostmann
  • Simulation Environment for Robot Control Design / B. Lantos
  • Program Package for Generation of Control Laws for Robot Manipulators in Symbolic Form / M. Vukobratovic, N. Kircanski and A. Timcenko
  • An Expert System for Robotic Arc Welding Aluminium Alloys / Wu Chuansong, Xu Jian and Wu Lin
  • ADP
  • An Arc Welding Diagnosis and Planning Aid / R. Bernhardt, W. Landvogt and G. Schreck
  • Sensors and Their Application
  • Force and Torque Sensorial Subsystem of Robot Wrist / V. Chudy, L. Volnar and L. Balla
  • Robot Control System Using Slip Displacement Signal for Algorithm Correction / Yu. P. Kondratenko, A. V. Kuzmichov and Y. Z. Yang
  • Accommodation Based on the Compliant Robot Wrist with Six D.O.F. Displacement/Force Sensing Capability / S. Havlik and G. Piller
  • Active Sensing Strategies with Non-contact Compliant Motions for Constraint Based Recognition / C. Sagues and L. Montano
  • An Optoelectronic System for Force-torque Sensing and Feedback Algorithms Processing / M. Kvasnica and S. Kvasnica
  • A New Measurement System for Advanced Modelling and Identification for Robot Control / H. Gander, J. P. Prenninger, M. Vincze and G. Zeichen
  • Controlling the Relative Position Using Coherent Ultrasonics / P. Kloor and A. Wernersson
  • New Methods for Detecting Moving Obstacles Using a Passive 3-D Visual Sensor / J. Takeno, Y. Shin'ogi, S. Nishiyama and K. Sorimati
  • Closed Loop Robot Control by Real Time Visual Sensor / F. Leonard, G. Abba, E. Ostertag and D. Mehdi
  • Robot Control Using Stereo Eyes in Hand Technique / A. Graffunder, Z. Ren and I. Hartmann
  • Proximity Matrix Sensor Image Processing / D. Biman
  • High Bandwidth Orientation Measurement and Control Based on Complementary Filtering / M. Zimmermann and W. Sulzer
  • A Runaway Protection System for Robots Based on Acceleration Measurements / A.-J. Baer Veldt and D. Vischer
  • Miscellaneous
  • Investigations on Lightweight Industrial Robots / I. D. Caushi
  • Control Algorithm and Controller for the Direct Drive Delta Robot / A. Codourey, R. Clavel and C. W. Burckhardt
  • Robot Sapiens on the Move to ... Personal Robots / G. Cooper, G. Medrano-Cerda, J. C. Larmouth and F. L. N.-Nagy.