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ROMANSY 18 - Robot Design, Dynamics and Control

Proceedings of the Eighteenth CISM-IFToMM Symposium

  • Conference proceedings
  • © 2010

Overview

Editors:
  1. Vincenzo Parenti Castelli

    1. University of Bologna, Italy

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    You can also search for this editor in PubMed   Google Scholar

  2. Werner Schiehlen

    1. University of Stuttgart, Germany

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    You can also search for this editor in PubMed   Google Scholar

Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 524)

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Table of contents (57 papers)

  1. Front Matter

    Pages i-xii
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  2. Keynote Lectures

    1. Front Matter

      Pages 1-1
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    2. Where Future Robots should Go and should not Go

      • Makoto Kaneko, Mitsuru Higashimori
      Pages 3-18

    3. Robust Drives for Parallel Robots

      • Jorge Angeles
      Pages 19-28

    4. Minimal-Form Multibody Dynamics for Embedded Multidisciplinary Applications

      • Kecskeméthy Andres
      Pages 29-38

  3. Novel Robot Design and Robot Modules/Components

    1. Front Matter

      Pages 39-39
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    2. Constructive Redesign of a Modular Metamorphic Microgripper

      • Luca Bruzzone, Giorgio Bozzini
      Pages 41-48

    3. A One-Motor Full-Mobility 6-PUS Manipulator

      • Patrick Grosch, Raffaele Di Gregorio, Federico Thomas
      Pages 49-56

    4. Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators

      • Wenbin Deng, Hyuk-Jin Lee, Jeh-Won Lee
      Pages 57-64

    5. Decoupled Parallel Manipulator with Universal Joints and Additional Constraints

      • Leonid Tyves, Victor Glazunov, Pavel Danilin, Nguyen Minh Thanh
      Pages 65-72

    6. Positio: A 4R Serial Manipulator Having a Surface of Isotropic Positioning

      • Khaled Akrout, Luc Baron
      Pages 73-80

    7. Joint space and workspace analysis of a two-DOF closed-chain manipulator

      • Damien Chablat
      Pages 81-90

    8. Identification of Base Parameters for Large-scale Kinematic Chains Based on Physical Consistency Approximation by Polyhedral Convex Cones

      • Ko Ayusawa, Yoshihiko Nakamura
      Pages 91-98

    9. Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator

      • Carmelo di Castri, Arcangelo Messina
      Pages 99-107

    10. Chatter Suppression in Sliding Mode Control: Strategies and Tuning Methods

      • Michael D O’Toole, Kaddour Bouazza-Marouf, David Kerr
      Pages 109-116

    11. On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm

      • Luc Rolland, Rohitash Chandra
      Pages 117-124

    12. Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix

      • Alejandro Tadeo, Gerardo Pérez, José M. Rico, J. Jesús Cervantes
      Pages 125-132

    13. Micro Hinges and their Application to Micro Robot Mechanisms

      • Mikio Horie
      Pages 133-140

    14. Parallel RPR-‖-RPR Manipulator Generating 2-DOF Translation along One-Sheet Revolute Hyperboloid

      • Chung-Ching Lee, Jacques M. Hervé
      Pages 141-148

    15. A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators

      • Erika Ottaviano, Gianni Castelli
      Pages 149-156
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Keywords

About this book

The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, education, medical, space, welfare and rescue robots, humanoid robots, bio-robotics, multi-robot, embodied multi-agent systems, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on humanoid robots from leading Japanese researchers are included.

Editors and Affiliations

  • University of Bologna, Italy

    Vincenzo Parenti Castelli

  • University of Stuttgart, Germany

    Werner Schiehlen

Bibliographic Information

  • Book Title: ROMANSY 18 - Robot Design, Dynamics and Control

  • Book Subtitle: Proceedings of the Eighteenth CISM-IFToMM Symposium

  • Editors: Vincenzo Parenti Castelli, Werner Schiehlen

  • Series Title: CISM International Centre for Mechanical Sciences

  • DOI: https://doi.org/10.1007/978-3-7091-0277-0

  • Publisher: Springer Vienna

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: CISM Udine 2010

  • Hardcover ISBN: 978-3-7091-0276-3Published: 14 July 2010

  • Softcover ISBN: 978-3-7091-1714-9Published: 02 November 2014

  • eBook ISBN: 978-3-7091-0277-0Published: 28 January 2011

  • Series ISSN: 0254-1971

  • Series E-ISSN: 2309-3706

  • Edition Number: 1

  • Number of Pages: XII, 488

  • Topics: Robotics and Automation, Vibration, Dynamical Systems, Control

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