Robotic Systems: Advanced Techniques and Applications

✍ Scribed by C. Innocenti, V. Parenti-Castelli (auth.), Spyros G. Tzafestas (eds.)

• Publisher: Springer Netherlands
• Year: 1992
• Tongue: English
• Leaves: 624
• Series: Microprocessor-Based and Intelligent Systems Engineering 10
• Edition: 1
• Category: Library

✦ Synopsis

Robotics is a modern interdisciplinary field that has emerged from the marriage of computerized numerical control and remote manipulation. Today's robotic systems have intelligence features, and are able to perform dexterous and intelligent human-like actions through appropriate combination of learning, perception, planning, decision making and control.
This book presents advanced concepts, techniques and applications reflecting the experience of a wide group of specialists in the field. Topics include: kinematics, dynamics, path planning and tracking, control, mobile robotics, navigation, robot programming, and sophisticated applications in the manufacturing, medical, and other areas.

✦ Table of Contents

Front Matter....Pages i-xiii
Front Matter....Pages 1-1
Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled....Pages 3-10
A General Method for a Closed-Form Solution to Robot Kinematics Problems....Pages 11-18
Fast Implementation of Robotic Manipulator Kinematics using Cordic and Systolic Processors....Pages 19-26
A Formal Framework for Specifying Robot Kinematics....Pages 27-35
Non-Geometrical Parameters Identification for Robot Kinematic Calibration by use of Neural Network Techniques....Pages 37-44
The Use of Skew-Symmetric Cartesian Tensors in Describing Orientations and Invariants of Spatial Rotations....Pages 45-52
An Automatic Verification of Simplified Robot Models....Pages 53-60
A Comparison between Theoretically Derived and Experimentally Verified Dynamic Modelling of a SCARA-Robot....Pages 61-69
Dynamics of Robots Having Supple Bodies....Pages 71-78
A Finite-Elements Model of Two-Joint Robots with Elastic Forearm....Pages 79-86
On the Modeling of the Contact Forces of Constrained Robots....Pages 87-95
Front Matter....Pages 97-97
Passivity and Learning Control for Robot Tasks under Geometric Constraints....Pages 99-107
A Decentralized Adaptive Controller for Robot Manipulator Trajectory Control....Pages 109-116
Robust Control of Robot Arms Using the Variable Structure Approach....Pages 117-124
A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulator....Pages 125-133
An Algorithm for the Nonlinear Adaptive Robot Control Synthesis....Pages 135-142
Model Reference Adaptive Control (MRAC) of Robotic Manipulators using a Modified Output Error Method (MOEM)....Pages 143-150
Application of Modified Generalized Predictive Controllers to Trajectory Control of a Robot Arm....Pages 151-158
Design of Manipulator Trajectories with Minimum Motion Time and Specified Accuracy....Pages 159-166
The Use of Simulation Systems To Control Manually Operated Remote Manipulators, with Long Pure Time Delays....Pages 167-174
Front Matter....Pages 97-97
Path Coordinated Control of Robotic Arms....Pages 175-181
Command Matching for a Constraint Robot System....Pages 183-191
Control of a Flexible Arm for Prescribed Frequency Domain Tolerances: Modelling, Controller Design, Laboratory Experiments....Pages 193-204
Front Matter....Pages 205-205
High-Speed Robot Path Planning in Time-Varying Environment Employing a Diffusion Equation Strategy....Pages 207-215
Path Planning of Transfer Motions for Industrial Robots by Heuristically Controlled Decomposition of the Configuration Space....Pages 217-224
Planning and optimization of geometrical trajectories inside collision-free subspaces with the aid of high order Hermite splines....Pages 225-233
A fast and efficient algorithm for the computation of path constrained time-optimal motions....Pages 235-243
Three-Dimension Abstraction of Convex Space Path Planning....Pages 245-252
An Approach to Real-Time Flexible Path Planning....Pages 253-260
A Path Planning Method for Mobile Robots in a Structured Environment....Pages 261-270
Minimum-Time Motion Planner for Mobile Robots on Uneven Terrains....Pages 271-278
Mobile Robot Trajectory Planning....Pages 279-286
Task Modeling for Planning an Autonomous Mobile Robot....Pages 287-295
An Optimal Solution to the Robot Navigation Planning Problem Based on an Electromagnetic Analogue....Pages 297-303
Real-Time LQG Robotic Visual Tracking....Pages 305-312
Trajectory Tracking for Mobile Robot....Pages 313-320
A Robust Tracking System for Mobile Robot Guidance....Pages 321-332
A Real-Time Multiple Lane Tracker for an Autonomous Road Vehicle....Pages 333-340
Front Matter....Pages 341-341
An Architecture for Intelligent Mobile Robots....Pages 343-350
Software Architecture for an Autonomous Manipulator....Pages 351-358
Front Matter....Pages 341-341
Automatic Control of Mobility....Pages 359-366
A Modular Approach to Mobile Robot Design....Pages 367-374
Environment Representation by a Mobile Robot using Quadtree Encoding of Range Data....Pages 375-382
Perception Planning in Panorama....Pages 383-390
Navigation and Perception Approach of Panorama Project....Pages 391-398
Trajectory generation for mobile robots with clothoids....Pages 399-406
Digital models for autonomous vehicle terrain — following....Pages 407-413
Navigation of a Mobile Robot....Pages 415-422
Robot Navigation and Exploration in an Unknown Environment....Pages 423-430
The Optimal Next Exploration: Uncertainty Minimization in Mobile Robot Self-Location....Pages 431-438
A Parallel Blackboard Model for Mobile Robotics control....Pages 439-447
Front Matter....Pages 449-449
Graphical Robot Programming: Requirements and Existing Systems....Pages 451-458
Practical Error Compensation for Use in Off-Line Programming of Robots....Pages 459-467
Intelligent Programming of Force-Constrained Cooperating Robots....Pages 469-477
Sensing Strategies Generation For Monitoring Robot Assembly Programs....Pages 479-486
Integration of a Constraint Scheme in a Programming Language for Multi-Robots....Pages 487-494
Software architecture and simulation tools for autonomous mobile robots....Pages 495-503
A Logical Framework of Sensor/Data Fusion....Pages 505-513
Maintaining World Model Consistency By Matching Parametrized Object Models to 3D Measurements....Pages 515-522
Front Matter....Pages 523-523
A Model of Manned Robotic Systems....Pages 525-533
Front Matter....Pages 523-523
Design, construction and performance of an anthropomorphic robot head....Pages 535-542
Multi-Fingered Robot Hands....Pages 543-550
Multidirectional Pneumatic Force Sensor For Grippers....Pages 551-558
Grasping in an Unstructured Environment using a Coordinated Hand Arm Control....Pages 559-567
Effective Integration of Sensors and Industrial Robots by Means of a Versatile Sensor Control Unit....Pages 569-576
Identification and Evaluation of Hydraulic Actuator Models for a Two-Link Robot Manipulator....Pages 577-584
A Modular Architecture for Controlling Autonomous Agents....Pages 585-593
Development of Intelligent Control for Robot Cells using Knowledge Based Simulation....Pages 595-602
Recent Advances in Robot Grinding....Pages 603-610
A low cost robot based integrated manufacturing system for the garment industry....Pages 611-618
Vision for Robot Guidance in Automated Butchery....Pages 619-626
Use of Robots in Surgical Procedures....Pages 627-635
Back Matter....Pages 637-641

✦ Subjects

Mechanical Engineering; Control, Robotics, Mechatronics; Manufacturing, Machines, Tools