Ebook: Experimental Robotics I: The First International Symposium Montreal, June 19–21, 1989

The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers have gone through.

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The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers have gone through.

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The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers have gone through.
Content:
Front Matter....Pages -
Theory and experiments in selecting mode shapes for two-link flexible manipulators....Pages 1-19
Limitations of linear identification and control techniques for flexible robots with nonlinear joint friction....Pages 20-34
A simple juggling robot: Theory and experimentation....Pages 35-73
Passive dynamic running....Pages 74-83
Cooperative and learning control for complex robot systems....Pages 84-99
Asymmetric hybrid control of positions and forces of a dual arm robot to share loads....Pages 100-115
Dynamic hybrid position/force control of robot manipulators: On-line estimation of unknown constraint....Pages 116-134
Hidden Markov Model analysis of force/torque information in telemanipulation....Pages 135-149
Adaptation to environment stiffness in the control of manipulators....Pages 150-165
Experimental studies of adaptive manipulator control....Pages 166-179
Control of machines with non-linear, low-velocity friction: A dimensional analysis....Pages 180-195
Experimental results on adaptive friction compensation in robot manipulators: low velocities....Pages 196-214
Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications....Pages 215-228
High-speed digital controller for magnetic servo levitation of robot mechanisms....Pages 229-243
Hybrid position force control of robot manipulator with an instrumented compliant wrist....Pages 244-270
Design and development of torque-controlled joints....Pages 271-286
On a unified concept for a new generation of light-weight robots....Pages 287-303
Experimental simulation of manipulator base compliance....Pages 304-326
An experimental system for incremental environment modelling by an autonomous mobile robot....Pages 327-346
The modelling system PYRAMIDE as an interactive help for the guidance of the inspection vehicle CENTAURE....Pages 347-361
Experiments and theory with a 0.5 ton mobile robot....Pages 362-387
Planning and executing sensory based grasping operations in a partially known environment....Pages 388-411
Visual servoing based on a task function approach....Pages 412-428
Video-rate visual servoing for robots....Pages 429-451
Interpretation of mechanical properties of soft tissues from tactile measurements....Pages 452-462
Determination of manipulator contact information from joint torque measurements....Pages 463-473
Using tactile data for real-time feedback....Pages 474-496
Approximate calculation of robot inverse kinematics applied to arc welding....Pages 497-507
Modelling and control of a modular, redundant robot manipulator....Pages 508-527
Identification and calibration of the geometric parameters of robots....Pages 528-538
Closed-loop kinematic calibration of the Utah-MIT hand....Pages 539-552
Robot calibration using least-squares and polar-decomposition filtering....Pages 553-567
Compliant sliding of a block along a wall....Pages 568-578
Planning movement for two PUMA manipulators holding the same object....Pages 579-593
Trajectories of human multi-joint arm movements: Evidence of joint level planning....Pages 594-613

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The scope of this volume is to provide a forum dedicated to Experimental Robotics. The focus is on theoretical work which has been validated through experimental implementation. The papers are research papers pre- senting new results which reflect the conjecture-experimental cycle that researchers have gone through.
Content:
Front Matter....Pages -
Theory and experiments in selecting mode shapes for two-link flexible manipulators....Pages 1-19
Limitations of linear identification and control techniques for flexible robots with nonlinear joint friction....Pages 20-34
A simple juggling robot: Theory and experimentation....Pages 35-73
Passive dynamic running....Pages 74-83
Cooperative and learning control for complex robot systems....Pages 84-99
Asymmetric hybrid control of positions and forces of a dual arm robot to share loads....Pages 100-115
Dynamic hybrid position/force control of robot manipulators: On-line estimation of unknown constraint....Pages 116-134
Hidden Markov Model analysis of force/torque information in telemanipulation....Pages 135-149
Adaptation to environment stiffness in the control of manipulators....Pages 150-165
Experimental studies of adaptive manipulator control....Pages 166-179
Control of machines with non-linear, low-velocity friction: A dimensional analysis....Pages 180-195
Experimental results on adaptive friction compensation in robot manipulators: low velocities....Pages 196-214
Modeling and analysis of a high-torque, hydrostatic actuator for robotic applications....Pages 215-228
High-speed digital controller for magnetic servo levitation of robot mechanisms....Pages 229-243
Hybrid position force control of robot manipulator with an instrumented compliant wrist....Pages 244-270
Design and development of torque-controlled joints....Pages 271-286
On a unified concept for a new generation of light-weight robots....Pages 287-303
Experimental simulation of manipulator base compliance....Pages 304-326
An experimental system for incremental environment modelling by an autonomous mobile robot....Pages 327-346
The modelling system PYRAMIDE as an interactive help for the guidance of the inspection vehicle CENTAURE....Pages 347-361
Experiments and theory with a 0.5 ton mobile robot....Pages 362-387
Planning and executing sensory based grasping operations in a partially known environment....Pages 388-411
Visual servoing based on a task function approach....Pages 412-428
Video-rate visual servoing for robots....Pages 429-451
Interpretation of mechanical properties of soft tissues from tactile measurements....Pages 452-462
Determination of manipulator contact information from joint torque measurements....Pages 463-473
Using tactile data for real-time feedback....Pages 474-496
Approximate calculation of robot inverse kinematics applied to arc welding....Pages 497-507
Modelling and control of a modular, redundant robot manipulator....Pages 508-527
Identification and calibration of the geometric parameters of robots....Pages 528-538
Closed-loop kinematic calibration of the Utah-MIT hand....Pages 539-552
Robot calibration using least-squares and polar-decomposition filtering....Pages 553-567
Compliant sliding of a block along a wall....Pages 568-578
Planning movement for two PUMA manipulators holding the same object....Pages 579-593
Trajectories of human multi-joint arm movements: Evidence of joint level planning....Pages 594-613
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