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
- Title:
- 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)
- Main Title:
- ROMANSY 21 -- Robot design, dynamics and control : proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy
- 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; 4Preface; 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. … (more)
- 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.
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library HMNTS - ELD.DS.356007
- Ingest File:
- 02_338.xml