ROMANSY 21 - Robot Design, Dynamics and Control [electronic resource] : Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy /
Parenti-Castelli, Vincenzo.editor.
Schiehlen, Werner.editor.
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
Description based upon print version of record.
Preface; Contents; Keynote Papers; 1 Innovations in Infrastructure Service Robots; Abstract; 1 Introduction; 2 Mobile High-Rise Spray Painting Robot; 2.1 Motivation; 2.2 Overall System; 2.3 Robotic System Realization; 3 Post-construction Quality Assessment Robot; 3.1 Motivation; 3.2 Quality Assessment Methodology; 3.3 Experimental Results; 4 Deep Tunnel Sewerage System Inspection Robot; 4.1 Motivation; 4.2 Overall System; 4.3 System Designs; 5 Conclusions and Discussion; Acknowledgments; References; 2 The New Robotics Age: Meeting the Physical Interactivity Challenge; Abstract
Kinematics for RoboticsRobust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method; 1 Introduction; 2 State of the Art; 2.1 Problem Formulation; 2.2 WDLS Method with Feedback Correction; 3 Virtual Redundant Axis Method; 3.1 VRA at Velocity Level; 3.2 VRA at Position Level; 4 Experimental Results; 5 Conclusions; References; Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints; 1 Introduction; 2 Task Definition; 3 Null Space Constraints; 4 Null Space Transport; 5 Conclusions; References
5 Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel ManipulatorAbstract; 1 Introduction; 2 Geometry of the PM 3CCC; 3 Direct Kinematics; 4 Conclusions; References; 6 Learning Global Inverse Kinematics Solutions for a Continuum Robot; Abstract; 1 Introduction; 2 Formulation of the Inverse Kinematics Learning Problem; 3 Training the Neural Network; 4 Simulations and Analysis; 5 Conclusion; Acknowledgement; References; 7 A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps; Abstract; 1 Introduction; 2 Overall Design of WAMOT; 3 A Study on a New Wheel Shape
3.1 A Study of Climbing Steps3.2 A Study of Climbing Slopes; 3.3 A Study on the Number of Notches; 3.4 A Study of the Edge Shape of the Notch; 4 Verification; 5 Discussion; 6 Conclusions; References; Position Kinematics of a 3-underlineRRS Parallel Manipulator; 1 Introduction; 2 Position Analysis; 3 Numerical Example; 4 Conclusion; References; 9 Kinematic Analysis of a Single-Loop Translational Manipulator; Abstract; 1 Introduction; 2 Position Analysis; 3 Instantaneous Kinematics; 4 Conclusions; Acknowledgments; References
10 A Measure of the Distance Between Two Rigid-Body Poses Based on the Use of Platonic SolidsAbstract; 1 Introduction; 2 Formulation of the Proposed Distance Metric; 3 Distance Metric Properties; 4 Position and Dimension of the Tetrahedron; 5 Conclusions; References; Dynamics for Robotics; 11 Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains; Abstract; 1 Introduction; 2 Constraints Addition-Deletion in Closed-Loop Mechanisms; 3 Dahl Friction in Closed-Loop Mechanisms; 4 Dahl Friction in Flexible Body Models; 5 Conclusions; Acknowledgments
References
Includes bibliographical references at the end of each chapters.
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
Control engineering.
Robotics.
Mechatronics.
Manufactures.
Engineering design.
Control, Robotics, Mechatronics.
Manufacturing, Machines, Tools, Processes.
Engineering Design.