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Robotic Systems

Advanced Techniques and Applications

  • Book
  • © 1992

Overview

Editors:
  1. Spyros G. Tzafestas

    1. Department of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece

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About this book

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.

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Table of contents (72 chapters)

  1. Front Matter

    Pages i-xiii
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  2. Robot Kinematic and Dynamic Analysis

    1. Front Matter

      Pages 1-1
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    2. Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled

      • C. Innocenti, V. Parenti-Castelli
      Pages 3-10

    3. A General Method for a Closed-Form Solution to Robot Kinematics Problems

      • Carlo Galletti, Pietro Fanghella
      Pages 11-18

    4. Fast Implementation of Robotic Manipulator Kinematics using Cordic and Systolic Processors

      • Vassilios Basil G. Mertzios, Stylianos S. Scarlatos
      Pages 19-26

    5. A Formal Framework for Specifying Robot Kinematics

      • V. S. Alagar, T. D. Bui, K. Periyasamy
      Pages 27-35

    6. Non-Geometrical Parameters Identification for Robot Kinematic Calibration by use of Neural Network Techniques

      • Jean-Michel Renders, José del R. Millan, Marc Becquet
      Pages 37-44

    7. The Use of Skew-Symmetric Cartesian Tensors in Describing Orientations and Invariants of Spatial Rotations

      • C. A. Balafoutis, R. V. Patel
      Pages 45-52

    8. An Automatic Verification of Simplified Robot Models

      • Krzysztof Swider
      Pages 53-60

    9. A Comparison between Theoretically Derived and Experimentally Verified Dynamic Modelling of a SCARA-Robot

      • T. A. Rieswijk, J. de Haas, G. Honderd, W. Jongkind
      Pages 61-69

    10. Dynamics of Robots Having Supple Bodies

      • P. Andre, J-P. Taillard, P. Mitrouchev, L. Losco
      Pages 71-78

    11. A Finite-Elements Model of Two-Joint Robots with Elastic Forearm

      • P. Muraca, M. La Cava, A. Ficola
      Pages 79-86

    12. On the Modeling of the Contact Forces of Constrained Robots

      • K. A. Tahboub, P. C. Müller
      Pages 87-95
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Editors and Affiliations

  • Department of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece

    Spyros G. Tzafestas

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