ROMANSY 21 -- Robot design, dynamics and control : proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy /: proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy. (2016)

• Record Type: Book
• Further Information: Note: Vincenzo Parenti-Castelli, Werner Schiehlen, editors.
• Editors: Parenti-Castelli, Vincenzo; Schiehlen, W. O (Werner O.)
• Other Names: ROMANSY (Symposium), 21st
• Contents: 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.
• Publisher Details: Switzerland : Springer
• Publication Date: 2016
• Extent: 1 online resource (xii, 448 pages), illustrations (some color)
• Subjects: 629.8/92; Engineering; Robots -- Congresses; Robotics -- Congresses; TECHNOLOGY & ENGINEERING -- Engineering (General); Robotics; Robots; Technology & Engineering -- Manufacturing; Technology & Engineering -- Industrial Design -- Product; Production engineering; Technical design; Manufactures; Engineering design; Technology & Engineering -- Automation; Automatic control engineering; Electronic books; Conference papers and proceedings
• Languages: English
• ISBNs: 9783319337142; 3319337149; 3319337130; 9783319337135
• Notes: Note: Online resource; title from PDF title page (SpringerLink, viewed July 12, 2016).
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.