International conference proceedings.

SpringerLink Springer Engineering eBooks 2017 English+International

Foreword; Preface; Contents; Intelligent Robot Motion Control; Kinematic Control of Redundant Robots in Changing Task Space; 1 Introduction; 2 Task Space Specification; 3 Modelling; 4 Kinematic Control; 5 Case Study; 6 Conclusion; References; Robot Force/Position Control Combined with ILC for Repetitive High Speed Applications; 1 Introduction; 2 Force/Position Control; 3 Iterative Learning Control; 3.1 Iterative Force Control; 3.2 Anticipatory P -- type Learning; 3.3 Combined ILC; 4 Example; 4.1 Experiment; 4.2 Simulation; 5 Conclusion; References.

2 Model of a Robot Driven by Bidirectional Antagonistic Complaint Actuators3 Control Strategy; 4 Simulation Results; 5 Conclusion; Acknowledgment; References; Robot Vision and Sensory Processing; Robotic 3D Surface Laser Scanning for Feature-Based Quality Control in Holonic Manufacturing; Abstract; 1 Introduction; 2 Robotized Part Scanning and Measuring Primitives; 2.1 Direct Surface Measurements Using the Laser Sensor; 2.2 Direct Comparison of Depth Maps; 3 3D Laser Scanning Integration with 2D Image Processing; 4 Implementing Solution and Experimental Results; 5 Conclusions; References.

5 Experimental Results: Cart Pendulum System6 Conclusion; Acknowledgment; References; Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF; 1 Introduction; 2 Robot System Under Study; 2.1 Design of the Robot Manipulator; 2.2 Sensor System; 2.3 Software Framework; 3 Kinematic Model; 3.1 First Substructure (Serial 3R Chain); 3.2 Second Substructure (Serial 6R Chain); 4 Virtual Compliance Control; 5 Experimental Results; 6 Conclusions; References.

On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic EnvironmentAbstract; 1 Introduction; 2 Problem Statement: The Industrial Robot, the Beam and the Experiments; 3 ARX-Based Synthetic Environment; 3.1 ARX Based Modelling of the Robot-Beam System; 3.2 PI -- Based Vibration Control; 4 Vibration Control Simulation and Experimental Results; 5 Conclusions; References; Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives; Abstract; 1 Introduction.

On-Line Modifications of Robotic Trajectories: Learning, Coaching and Force Vs. Position Feedback1 Introduction; 2 Learning of Trajectories; 3 Robot Coaching; 3.1 Force Vs. Position Feedback; 3.2 Modified Feedback Signal; 4 Experimental Evaluation and Results; 5 Discussion; References; Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach; Abstract; 1 Introduction; 2 System Modelling; 3 Controller Design; 4 D-decomposition Method; 4.1 Swing up and Asymptotic Stabilization of Furuta Pendulum; 4.2 Simulation Results.

This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th-July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human-robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master's and Ph. D. students working on robotics projects.