Coverart for item
The Resource Advances in robotics : the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996, edited by Claudio Bonivento, Claudio Melchiorri, Henning Tolle

Advances in robotics : the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996, edited by Claudio Bonivento, Claudio Melchiorri, Henning Tolle

Label
Advances in robotics : the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996
Title
Advances in robotics
Title remainder
the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996
Statement of responsibility
edited by Claudio Bonivento, Claudio Melchiorri, Henning Tolle
Creator
Contributor
Subject
Genre
Language
eng
Summary
This volume contains the research papers for the final Workshop of European Robotics Network (ERNET). ERNET is a research network created since 1993 in the framework of the Human and Capital Mobility Programme and supported by the Commission of European Communities with the focus on methodologies and applications in the area of Robotics. The participation of a large number of leading laboratories belonging to 10 European countries allowed the development of a significant number of joint research projects and a strong qualification of their goals and results. In this respect, this book is uniqu
Dewey number
629.8/92
Illustrations
illustrations
Index
no index present
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
http://bibfra.me/vocab/lite/organizationDate
(1996 :
http://bibfra.me/vocab/lite/organizationName
ERNET
http://library.link/vocab/relatedWorkOrContributorName
  • Bonivento, Claudio
  • Melchiorri, Claudio
  • Tolle, H
http://library.link/vocab/subjectName
  • Robotics
  • Robotics
Label
Advances in robotics : the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996, edited by Claudio Bonivento, Claudio Melchiorri, Henning Tolle
Instantiates
Publication
Copyright
Antecedent source
unknown
Bibliography note
Includes bibliographical references
Color
multicolored
Contents
  • Title; Copyright; Contents; Overview of ERNET Research Results and their Future Exploitation; 1 Introduction; 2 Scope and Organisation of ERNET; 3 Main ERNET Results; 4 A Perspective for ERNET Initiative Exploitation; Acknowledgments; References; Simultaneous Force Stabilization for Rigid and Flexible Mechanisms Under Compliant Contacts; 1 Introduction; 2 A PID-type Control Law for the Rigid Case; 3 Compliant Joint Case; 4 Conclusions; References; Force/Position Control of A Robot Manipulator in Contact with a Compliant Environment; 1 Introduction; 2 Modelling; 3 Force and Position Tracking
  • 4 Force and Position Regulation5 Conclusion; References; ERNET Activities at the University of Naples:Control of Cooperative Manipulators; 1 Introduction; 2 Laboratory Cooperative Setup; 2.1 General description; 2.2 Synchronization issue; 2.3 Closed kinematic chain building; 3 Operational Space Formulation; 4 Hybrid Force/Position Control; 5 Experimental Results; 6 Conclusion; Acknowledgments; References; Integration of Impedance Control and Reactive Architecture for Insertion Tasks Execution; 1 Introduction; 2 The Robotic Architecture; 2.1 The impedance process
  • 2.2 The trajectory generator process2.3 The guards watch-dog process; 2.4 The planner; 3 The Dove-Tail Insertion Task; 3.1 Impedance control layer; 3.2 Task decomposition; Go above the tail; Get in contact with the tail; Turn until insertion occurs; Slide along the tail; 4 Conclusion; Acknowledgments; References; Reachability of Rolling Parts; 1 Introduction; 2 Problem Formulation; 3 Definitions and First Properties; 4 Density of the Reachable Set; 5 Conclusions; References; Grasping Robustness Measurements: Integration in Computer Aided Optimal Design for Grasping Systems; 1 Introduction
  • 2 Grasping Robustness Measurements: Grasping Ellipsoid3 Experimental Results; 4 Conclusions; Acknowledgments; References; Simple Controllers for Dexterous Hands; 1 Introduction; 2 Dynamics of Robotic Hands; 2.1 Actuator; 2.2 Pre-actuators; 2.3 Friction; 3 Parameter Identification; 4 Position Control; 4.1 Position control of the Karlsruhe dexterous hand; 4.2 Position control of the Salisbury hand; Controlling the tendon tensions; 5 Some Experimental Results; 6 Planning Strategies; 7 Conclusions; Acknowledgments; Appendix A: The impact; Control System; References
  • Sliding Mode Control of Robot Manipulators1 Introduction; 2 Sliding Mode Control of Robot Manipulators; 2.1 Manipulator dynamics; 2.2 Selection of a sliding manifold; 2.3 Controller design; Control law; Convergence and stability analysis; Control parameter setting and controller structure; 3 Simulation and Experimental Results; 3.1 Experimental setup; 3.2 Experimental results; 4 Conclusions; Acknowledgments; References; Improved Inference for Takagi-Sugeno Models; 1 Introduction; 2 The Takagi-Sugeno Fuzzy Model; 2.1 The consequent functions; 2.2 Inference in the TS model
Control code
ocn894668908
Dimensions
unknown
Extent
1 online resource (x, 293 pages)
File format
unknown
Form of item
online
Isbn
9789814530880
Level of compression
unknown
Note
World Scientific Publishing
Other physical details
illustrations
Quality assurance targets
not applicable
Reformatting quality
unknown
Sound
unknown sound
Specific material designation
remote
System control number
(OCoLC)894668908
Label
Advances in robotics : the ERNET perspective : proceedings of the Research Workshop of ERNET--European Robotics Network, Darmstadt, Germany, September 9-10, 1996, edited by Claudio Bonivento, Claudio Melchiorri, Henning Tolle
Publication
Copyright
Antecedent source
unknown
Bibliography note
Includes bibliographical references
Color
multicolored
Contents
  • Title; Copyright; Contents; Overview of ERNET Research Results and their Future Exploitation; 1 Introduction; 2 Scope and Organisation of ERNET; 3 Main ERNET Results; 4 A Perspective for ERNET Initiative Exploitation; Acknowledgments; References; Simultaneous Force Stabilization for Rigid and Flexible Mechanisms Under Compliant Contacts; 1 Introduction; 2 A PID-type Control Law for the Rigid Case; 3 Compliant Joint Case; 4 Conclusions; References; Force/Position Control of A Robot Manipulator in Contact with a Compliant Environment; 1 Introduction; 2 Modelling; 3 Force and Position Tracking
  • 4 Force and Position Regulation5 Conclusion; References; ERNET Activities at the University of Naples:Control of Cooperative Manipulators; 1 Introduction; 2 Laboratory Cooperative Setup; 2.1 General description; 2.2 Synchronization issue; 2.3 Closed kinematic chain building; 3 Operational Space Formulation; 4 Hybrid Force/Position Control; 5 Experimental Results; 6 Conclusion; Acknowledgments; References; Integration of Impedance Control and Reactive Architecture for Insertion Tasks Execution; 1 Introduction; 2 The Robotic Architecture; 2.1 The impedance process
  • 2.2 The trajectory generator process2.3 The guards watch-dog process; 2.4 The planner; 3 The Dove-Tail Insertion Task; 3.1 Impedance control layer; 3.2 Task decomposition; Go above the tail; Get in contact with the tail; Turn until insertion occurs; Slide along the tail; 4 Conclusion; Acknowledgments; References; Reachability of Rolling Parts; 1 Introduction; 2 Problem Formulation; 3 Definitions and First Properties; 4 Density of the Reachable Set; 5 Conclusions; References; Grasping Robustness Measurements: Integration in Computer Aided Optimal Design for Grasping Systems; 1 Introduction
  • 2 Grasping Robustness Measurements: Grasping Ellipsoid3 Experimental Results; 4 Conclusions; Acknowledgments; References; Simple Controllers for Dexterous Hands; 1 Introduction; 2 Dynamics of Robotic Hands; 2.1 Actuator; 2.2 Pre-actuators; 2.3 Friction; 3 Parameter Identification; 4 Position Control; 4.1 Position control of the Karlsruhe dexterous hand; 4.2 Position control of the Salisbury hand; Controlling the tendon tensions; 5 Some Experimental Results; 6 Planning Strategies; 7 Conclusions; Acknowledgments; Appendix A: The impact; Control System; References
  • Sliding Mode Control of Robot Manipulators1 Introduction; 2 Sliding Mode Control of Robot Manipulators; 2.1 Manipulator dynamics; 2.2 Selection of a sliding manifold; 2.3 Controller design; Control law; Convergence and stability analysis; Control parameter setting and controller structure; 3 Simulation and Experimental Results; 3.1 Experimental setup; 3.2 Experimental results; 4 Conclusions; Acknowledgments; References; Improved Inference for Takagi-Sugeno Models; 1 Introduction; 2 The Takagi-Sugeno Fuzzy Model; 2.1 The consequent functions; 2.2 Inference in the TS model
Control code
ocn894668908
Dimensions
unknown
Extent
1 online resource (x, 293 pages)
File format
unknown
Form of item
online
Isbn
9789814530880
Level of compression
unknown
Note
World Scientific Publishing
Other physical details
illustrations
Quality assurance targets
not applicable
Reformatting quality
unknown
Sound
unknown sound
Specific material designation
remote
System control number
(OCoLC)894668908

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