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Robot Control 1991 (SYROCO'91) : Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16-18 September 1991. Preview this item
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Robot Control 1991 (SYROCO'91) : Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna, Austria, 16-18 September 1991.

Author: I Troch; Kurt Desoyer; Peter Kopacek
Publisher: Oxford ; New York : Published for the International Federation of Automatic Control by Pergamon Press, 1992.
Series: IFAC symposia series, 1992, no. 7.
Edition/Format:   eBook : Document : Conference publication : EnglishView all editions and formats
Summary:
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  Read more...
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Genre/Form: Electronic books
Conference papers and proceedings
Congresses
Additional Physical Format: Print version:
SYROCO '91 (1991 : Vienna, Austria).
Robot control 1991 (SYROCO '91).
Oxford ; New York : Published for the International Federation of Automatic Control by Pergamon Press, 1992
(DLC) 92003531
(OCoLC)25317544
Material Type: Conference publication, Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: I Troch; Kurt Desoyer; Peter Kopacek
ISBN: 9781483298788 1483298787
OCLC Number: 898422273
Notes: Kinematic model and closure equations.
Description: 1 online resource (583 pages).
Contents: Front Cover; Robot Control 1991: (Syroco'91); Copyright Page; PREFACE; Table of Contents; PART I: INVITED PAPER; CHAPTER 1. ADAPTIVE INTERFACES FOR ROBOTS; 1 Introduction; 2 Concept of adaptive interfaces; 3 Technology pushfor adaptive interface; 4 Human pull foradaptive interface; 5 User interface development environment; 6 Self-adaptive interfaces; 7 Challenges ahead; References; PART II: MODELLING AND IDENTIFICATION; CHAPTER 2. COMPARISON OF DESCRIPTOR MODELS AND REDUCED DYNAMIC MODELS FOR CONSTRAINED ROBOTS; 1 Introduction; 2 Task Frame, Reference Cartesian Frame, and Joint Space. 3 Benchmark Tasks4 Descriptor Model in the Joint Space; 5 Reduced Dynamic Model in the Task Space; 6 Numerical Integration; 7 Simulation and Results; 8 Conclusions; References; CHAPTER 3. DYNAMIC MODEL SIMPLIFICATION OF INDUSTRIAL ROBOT MANIPULATORS; 1. Introduction; 2. Problem statement; 3. Model simplification : criterionand procedure; 4. Experimental evaluation; 5. Conclusions; 6. Acknowledgements; 7. References; CHAPTER 4. ROBOTICS IN SPACE: DISTURBANCES OF PAYLOADS; INTRODUCTION; SPACECRAFT AND ROBOT; MODELING; INDIVIDUAL RESULTS; COMBINED RESULTS; CONCLUSION; REFERENCES. Chapter 5. on the statistical modelling of mechanical manipulatorsintroduction; modelling of robot manipulators; a statistical model; conclusions; references; chapter 6. minimum dynamics parameters of robot models; introduction; robot dynamic model; basic idea of regrouping the dynamics parameters; the minimum number of dynamics parameters; example; conclusions; reference; chapter 7. self-tuning control of a commercial manipulator based on an inverse dynamicmodel; introduction; dynamic model; identification; model-based control; results; conclusions; references. CHAPTER 8. OFF-LINE IDENTIFICATION/ESTIMATION OF PARAMETERS FOR TWO D.O.F. SCARA ROBOTINTRODUCTION; DYNAMIC ROBOT MODEL; SIMPLIFICATION AND DISCRETIZATION OF THE MODEL; PARAMETER IDENTIFICATION; ESTIMATION OF THE COULOMB FRICTION; CONCLUSION; LITERATURE; CHAPTER 9. ON THE MATHEMATICAL MODELING OF ROV'S; INTRODUCTION; MECHANICAL MODEL; HYDRODYNAMIC COUPLING; GENERATION OF DYNAMIC EQUATIONS; SIMULATIONS; CONCLUSIONS; REFERENCES; PART III: MODELLING AND CONTROL OF FRICTIONAL EFFECTS; CHAPTER 10. COULOMB FRICTION AND SIMULATION PROBLEMS; INTRODUCTION; CONCLUSION; References. Chapter 11. position control for elastic pointing andtracking systems with gear play and coulomb friction and application to robotsintroduction; mathematical model; part i: stability conditions; part iii: stabilization and compensation; conclusions; bibliography; chapter 12. friction compensation via disturbance observer; introduction; compensation of friction by distrubance rejection control; robustness; simulation; optimization; conclusion; references; part iv: topics on inversekinematics; chapter 13. direct kinematics of the reverse stewart platform mechanism; introduction.
Series Title: IFAC symposia series, 1992, no. 7.

Abstract:

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 m.

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