Robot control 1991 : selected papers from the 3rd IFAC/IFIP/IMACS Symposium [on Robot Control], Vienna, Austria, 16-18 September 1991

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 multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control. Content: IFAC SYMPOSIA SERIES, Page ii Front Matter, Page iii Copyright, Page iv 3rd IFAC/IFIP/IMACS SYMPOSIUM ON ROBOT CONTROL (SYROCO'91), Page v PREFACE, Pages vii-viii ADAPTIVE INTERFACES FOR ROBOTS, Pages 1-7 COMPARISON OF DESCRIPTOR MODELS AND REDUCED DYNAMIC MODELS FOR CONSTRAINED ROBOTS, Pages 9-14 DYNAMIC MODEL SIMPLIFICATION OF INDUSTRIAL ROBOT MANIPULATORS, Pages 15-20 ROBOTICS IN SPACE: DISTURBANCES OF PAYLOADS, Pages 21-26 ON THE STATISTICAL MODELLING OF MECHANICAL MANIPULATORS, Pages 27-32 MINIMUM DYNAMICS PARAMETERS OF ROBOT MODELS, Pages 33-38 SELF-TUNING CONTROL OF A COMMERCIAL MANIPULATOR BASED ON AN INVERSE DYNAMIC MODEL, Pages 39-44 OFF-LINE IDENTIFICATION/ESTIMATION OF PARAMETERS FOR TWO D.O.F. SCARA ROBOT, Pages 45-50 ON THE MATHEMATICAL MODELING OF ROV'S, Pages 51-54 COULOMB FRICTION AND SIMULATION PROBLEMS, Pages 55-60 POSITION CONTROL FOR ELASTIC POINTING AND TRACKING SYSTEMS WITH GEAR PLAY AND COULOMB FRICTION AND APPLICATION TO ROBOTS, Pages 61-70 FRICTION COMPENSATION VIA DISTURBANCE OBSERVER, Pages 71-74 DIRECT KINEMATICS OF THE REVERSE STEWART PLATFORM MECHANISM, Pages 75-80 A SOLUTION TO THE GENERALIZED INVERSE KINEMATIC PROBLEM, Pages 81-86 A FAST ALGORITHM FOR INVERSE KINEMATICS OF UNSOLVABLE MANIPULATORS: SEMI-ITERATIVE AND SEMI-ANALYTIC METHOD, Pages 87-91 ISSUES IN ACCELERATION RESOLUTION OF ROBOT REDUNDANCY, Pages 93-98 RESOLVING REDUNDANCY THROUGH A WEIGHTED DAMPED LEAST-SQUARES SOLUTION, Pages 99-104 BACKWARDS SOLUTION OF AN EIGHT-DEGREES-OF-FREEDOM KINEMATIC STRUCTURE, Pages 105-110 SIX DEGREES-OF-FREEDOM TASK SPACE CONTROL FOR THE PUMA 560 MANIPULATOR: AN EXPERIMENTAL STUDY, Pages 111-116 ROBUST CONTROL OF ROBOT MANIPULATORS WITH FAST DYNAMICS, Pages 117-121 SENSITIVITY ANALYSIS OF ROBOT CONTROL SYSTEMS BASED ON DISTURBANCE OBSERVERS, Pages 123-128 MODEL-BASED FORCE SENSING FOR AN INDUSTRIAL ROBOT BY USING DRIVE SIGNALS, Pages 129-134 ADVANCED INDUSTRIAL ROBOT CONTROL USING EXTENDED KALMAN FILTER, Pages 135-140 ON LINE DISCRETE-TIME CONTROL OF INDUSTRIAL ROBOTS, Pages 141-147 POINT-TO-POINT MOTION OF ROBOTIC MANIPULATORS: DYNAMICS, CONTROL SYNTHESIS AND OPTIMIZATION, Pages 149-152 ADAPTIVE ‘PD+’ CONTROL OF RIGID ROBOT MANIPULATORS, Pages 153-158 PASSIVITY OF ROBOT DYNAMICS IN LEARNING CONTROL, Pages 159-164 A FUZZY EXPERT TUNER FOR ROBOT CONTROLLER, Pages 165-169 SELF-TUNING SELF-ORGANIZING FUZZY ROBOT CONTROL, Pages 171-176 HYBRID FORCE-POSITION CONTROL FOR ROBOTS IN CONTACT WITH DYNAMIC ENVIRONMENTS, Pages 177-182 ON THE STABILITY OF A FORCE/POSITION CONTROL SCHEME FOR ROBOT MANIPULATORS, Pages 183-188 AN IJC BASED FORCE-POSITION CONTROL OF A ROBOT ARM, Pages 189-194 SOFTWARE SYSTEM FOR SIMULATION AND CONTROL SYNTHESIS OF ROBOTS FOR METAL MACHINING PROCESSES, Pages 195-200 FORCE CONTROL FOR TRACKING A SET OF TASKS IN PRESENCE OF CONSTRAINTS, Pages 201-206 ON THE MODEL-BASED CONTROL OF A HYDRAULIC LARGE RANGE ROBOT, Pages 207-212 CAD AND IMPLEMENTATION OF DIGITAL CONTROLLERS FOR THE FAST TUD-HYDRAULIC TEST ROBOT MANIPULATORS, Pages 213-218 NONLINEAR CONTROL OF A HYDRAULIC ROBOT, Pages 219-223 MINIMAL POWER CONSUMPTION FOR AN INDUSTRIAL ROBOT WITH 6 AXES, Pages 225-229 OBJECT CONTOUR SURFACE GENERATION FOR ROBOTIC APPLICATIONS, Pages 231-236 OPTIMAL SCHEDULING OF FUNCTIONAL POINTS OF A TRAJECTORY GENERALIZATION TO CLUTTERED ENVIRONMENT, Pages 237-241 PREDICTIVE CONTROL OF A MANIPULATOR IN A CLUTTERED ENVIRONMENT, Pages 243-246 UNCERTAINTY MODELLING IN CONFIGURATION SPACE FOR ROBOTIC MOTION PLANNING, Pages 247-252 FAST COLLISION-FREE MOTION-PLANNING FOR ROBOT MANIPULATORS BASED ON PARALLELIZED ALGORITHMS, Pages 253-258 PATH-PLANNING SOLUTION BASED ON A POTENTIAL FIELD NON UNIFORMLY DISTRIBUTED, Pages 259-264 A STOCHASTIC CONTROL FRAMEWORK FOR MOVING VEHICLES IN CHANGING ENVIRONMENTS, Pages 265-270 A NEURAL CONTROLLER FOR MOBILE ROBOTS, Pages 271-275 COMPUTATIONAL COMPLEXITY OF PATH PLANNING ALGORITHMS BASED ON SAFE TRIANGLES AND QUADTREE AS WORK SPACE REPRESENTATIONS: A COMPARISON, Pages 277-281 CONTROL ARCHITECTURE FOR AN ELECTRICAL, ACTIVELY BALANCED MULTI-LEG ROBOT, BASED ON EXPERIMENTS WITH A PLANAR ONE LEG MACHINE, Pages 283-290 AN OBJECT-DIRECTED PATHPLANNING SYSTEM FOR MULTIPLE ROBOTS WITH SINGULARITY-COPING PROPERTIES, Pages 291-296 FLEXIBLE, ONLINE COLLISION AVOIDANCE IN MULTI-ROBOT SYSTEMS, Pages 297-302 COLLISION AVOIDANCE OF THE DELFT INTELLIGENT ASSEMBLY CELL, Pages 303-308 A CONTROL SYSTEM FOR TWO ROBOT ARMS COORDINATION, Pages 309-314 HEURISTIC DECENTRALIZED CONTROL OF MULTI ARMS COORDINATED SYSTEMS, Pages 315-320 SLENDERNESS OF FLEXIBLE ROBOT LINKS: DYNAMIC MODEL SELECTION, Pages 321-326 SIMULATION OF ROBOTS WITH FLEXIBLE LINKS, Pages 327-332 DYNAMIC MODELLING OF INDUSTRIAL MANIPULATOR JOINTS, Pages 333-337 ENERGY BASED DETERMINATION OF IDENTIFIABLE PARAMETERS OF FLEXIBLE LINK ROBOTS, Pages 339-344 AN EXTENDED LOAD COMPENSATION METHOD TO CONTROL FLEXIBLE JOINT ROBOTS, Pages 345-350 COMPOSITE COMPUTED TORQUE CONTROL OF ROBOTS WITH ELASTIC MOTOR TRANSMISSIONS, Pages 351-355 A PD CONTROL LAW FOR TRAJECTORY TRACKING OF FLEXIBLE JOINT ROBOTS, Pages 357-362 PATH FOLLOWING FOR A FLEXIBLE JOINT ROBOT, Pages 363-368 ADAPTIVE TRAJECTORY TRACKING FOR FLEXIBLE JOINT MANIPULATORS WITHOUT JOINT ACCELERATION MEASUREMENT, Pages 369-374 DYNAMIC CONTROL OF FLEXIBLE JOINT ROBOTS WITH CONSTRAINED END-EFFECTOR MOTION, Pages 375-380 QUASI-STATIC COMPENSATION OF FORCE ERRORS FOR FLEXIBLE MANIPULATORS, Pages 381-385 ON THE CONTROL OF THE FLEXIBLE MANIPULATOR ARM, Pages 387-391 ITERATIVE LEARNING CONTROL OF A ONE-LINK FLEXIBLE MANIPULATOR, Pages 393-398 STATE-FEEDBACK CONTROLLER FOR A TWO-DEGREE-OF-FREEDOM FLEXIBLE ROBOT ARM, Pages 399-404 FLEXIBILITY CONTROL OF A LIGHTWEIGHT ROBOT ARM MODULE, Pages 405-410 ANALYTICAL CALCULATION OF THE FEEDFORWARDS UP TO THEIR SECOND DERIVATIVES AND REALIZATION OF AN OPTIMAL SPATIAL SPLINE TRAJECTORY FOR A 6-DOF ROBOT, Pages 411-416 FEASIBILITY OF PARALLELIZATION OF NONLINEAR FEEDBACK METHOD OF ROBOT ARM CONTROL, Pages 417-422 TRANSPUTER NETWORK CONTROLS ROBOT AXES, Pages 423-427 ROPSIM, A ROBOT OFF-LINE PROGRAMMING AND REAL-TIME SIMULATION SYSTEM INCLUDING DYNAMICS, Pages 429-434 SIMULATION ENVIRONMENT FOR ROBOT CONTROL DESIGN, Pages 435-440 PROGRAM PACKAGE FOR GENERATION OF CONTROL LAWS FOR ROBOT MANIPULATORS IN SYMBOLIC FORM, Pages 441-446 AN EXPERT SYSTEM FOR ROBOTIC ARC WELDING ALUMINIUM ALLOYS, Pages 447-450 ADP: AN ARC WELDING DIAGNOSIS AND PLANNING AID, Pages 451-456 FORCE AND TORQUE SENSORIAL SUBSYSTEM OF ROBOT WRIST, Pages 457-461 ROBOT CONTROL SYSTEM USING SLIP DISPLACEMENT SIGNAL FOR ALGORITHM CORRECTION, Pages 463-467 ACCOMMODATION BASED ON THE COMPLIANT ROBOT WRIST WITH SIX D.O.F. DISPLACEMENT/FORCE SENSING CAPABILITY, Pages 469-473 ACTIVE SENSING STRATEGIES WITH NON-CONTACT COMPLIANT MOTIONS FOR CONSTRAINT BASED RECOGNITION, Pages 475-480 AN OPTOELECTRONIC SYSTEM FOR FORCE-TORQUE SENSING AND FEEDBACK ALGORITHMS PROCESSING, Pages 481-486 A NEW MEASUREMENT SYSTEM FOR ADVANCED MODELLING AND IDENTIFICATION FOR ROBOT CONTROL, Pages 487-493 CONTROLLING THE RELATIVE POSITION USING COHERENT ULTRASONICS, Pages 495-500 NEW METHODS FOR DETECTING MOVING OBSTACLES USING A PASSIVE 3-D VISUAL SENSOR, Pages 501-506 CLOSED LOOP ROBOT CONTROL BY REAL TIME VISUAL SENSOR, Pages 507-512 ROBOT CONTROL USING STEREO EYES IN HAND TECHNIQUE, Pages 513-518 PROXIMITY MATRIX SENSOR IMAGE PROCESSING, Pages 519-524 HIGH BANDWIDTH ORIENTATION MEASUREMENT AND CONTROL BASED ON COMPLEMENTARY FILTERING, Pages 525-530 A RUNAWAY PROTECTION SYSTEM FOR ROBOTS BASED ON ACCELERATION MEASUREMENTS, Pages 531-535 INVESTIGATIONS ON LIGHTWEIGHT INDUSTRIAL ROBOTS, Pages 537-541 CONTROL ALGORITHM AND CONTROLLER FOR THE DIRECT DRIVE DELTA ROBOT, Pages 543-549 ROBOT SAPIENS ON THE MOVE TO ... PERSONAL ROBOTS, Pages 551-558 AUTHOR INDEX, Pages 559-560 KEYWORD INDEX, Pages 561-564 SYMPOSIA VOLUMES, Pages IBC1-IBC2 WORKSHOP VOLUMES, Page IBC2