Theory and practice of robots and manipulators. Proceedings of RoManSy 10: the tenth CISM-IFToMM symposium, held September 12-15, 1994 in Gdansk, Poland (Q1905753): Difference between revisions

[The articles of this volume will not be indexed individually.] (From the preface.) This symposium was attended by 64 participants from seventeen countries. The proceedings focus mainly on problems of mechanical engineering and control. In his opening lecture, \textit{A. Morecki} reviews the history of the symposia and examines the main trends, past, present and future, of research in robotics. The fifty-one papers illustrate significant contributions in mechanics (ten papers), control of motion (fourteen), synthesis and design (fourteen), applications and performance evaluation (four), sensing and machine intelligence (three), and the biomechanical aspects of robots and manipulators (six). (From the opening lecture.) In the field of mechanics the following subjects are investigated: the generation of symbolic equations for multiloop robot kinematics, singularity analysis, redundancy problems, the dynamics of elastic robot arms, anthropomorphic telemanipulation, force control in telerobotics, modeling and control synthesis of flexible multibody systems, constrained robots, robot control based on qualitative models, vibration control of flexible arms. The optimization of inertial properties in the design of manipulators, multiobjective optimization, optimal synthesis, the design of underwater robots, the design of microrobots with parallel links, new parallel robots, the design of novel robot structures are the main topics in the area of synthesis and design. In the field of biomechanical aspects of robots and manipulators, the problems addressed are: fuzzy logic control, distal learning, the modeling of walking machines, robot systems for surgery, and rehabilitation manipulators. Sensing position in underwater vehicles, neural-based sensing, and LED array-based imaging sensors are some examples of the problem treated in the area of associated sensors and artificial intelligence. The sector of application and performance evaluation investigates problems such as: a polymer gel photo micro-actuator, assembly dependent planning, and robust multiaxes controllers.