Theory and Practice of Robots and Manipulators

Preface.- Editorial Note.- 1 Opening Lecture.- Biomechanical Aspects in Robotics.- 2 Mechanics.- Coordinate Transformations and Inverse kinematics for Industrial Robots.- Industrial Robots with Recuperation of Mechanical Energy.- On the Optimal Selection and Placement of Manipulators.- On the Geometry of Orthogonal and Reciprocal Screws.- Trajectory Planning for Redundant Manipulators in the Presence of Obstacles.- Implementation of Highly Efficient Analytical Robot Models on Microcomputers.- Computer-aided Generation of Multibody-system Equations.- Equations of Motion and Equations of Stress for Robots and Manipulators: An Application of the NEWEUL Formalism.- Modelling of Artificial Manipulators and Computer Simulation of their Dynamics.- Dynamics of Robots and Manipulators Involving Closed Loops.- 3 Control of Motion.- Non-adaptive Dynamic Control for Manipulation Robots: Invited Survey Paper.- Robot Motion Control in Multi-operation assembly.- Some Considerations on Feedback Strategy for Assembly Robots.- Optimal Dynamic Trajectories for Robotic Manipulators.- Approximative Models in Dynamic Control of Robotic Systems.- Keyboard Playing by an Anthropomorphic Robot: Fingers and Arm Model and its Control System of WAM-7R.- Control of Two Co-ordinated Robots by Using an Only-kinematic Model.- A Method for Time-optimal Control of Dynamically Constrained Manipulators.- Bracing Strategy for Robot Operation.- Robot Control and Computer Languages.- Robust Control for Industrial Robots.- Controlling a Six-degrees-of-freedom Welding Robot along a Randomly Oriented Seam with Reduced Sensor Information.- Principles and Algorithms for Industrial Robots Remote Automatic Control.- 4 Man-Intelligent Machine Systems.- Manual Control Communication in Space Teleoperation.- Sensory-based Control for Robots and Teleoperators.- Tele-existence (I): Design and Evaluation of a Visual Display with Sensation of Presence.- New Approach to Robotic Visual Processing.- Representing Three-dimensional Shape.- An Electropneumatic Actuation System for the Utah/MIT Dextrous Hand.- Sensor-aided and/or Computer-aided Bilateral Teleoperator System (SCATS).- 5 Synthesis and Design.- Mechanical and Geometric Design of the Adaptive Suspension Vehicle.- Geometrical and Kinematical Qualitative Characteristics for Functional Capacities of Manipulation Systems.- Manipulation Devices Based on High-class Mechanisms.- Synthesis and Design of Mechanical Hands for Robots with Application of Computer-aided Design.- A New Design Method of Servo-actuators Based on the Shape Memory Effect.- Coverage Optimization of Articulated Manipulators.- 6 Biomechanics of Motion: Locomotion.- Study of Propelling Agents Construction Features of Orthogonal Walking Robots by Using Plane Mechanisms.- A Hierarchically Structured System for Computer Control of a Hexapod Walking Machine.- Realization of Plane Walking by the Biped Walking Robot WL-10R.- Hexapod Walking Robots with Artificial Intelligence Capabilities.- Legged Locomotion Machine Based on the Consideration of Degrees of Freedom.- Trotting and Bounding in a Planar Two-legged Model.- 7 Application and Performance Evaluation.- Determination of Important Design Parameters for Industrial Robots from the Application Point of View: Survey Paper.- Automatic Assembly by Reference Searching and Position Adjustment before Insertion.- Participants.