Complex robotic systems (Q1271335)

[The articles of this volume will not be indexed individually.] This volume collects 6 contributions concerned with modelling and control of complex robotic systems, written by outstanding authors and addressed to a readership wider that the roboticians working actively in the field of complex robotic systems. All these contributions are based on the papers presented at a tutorial session organised at the 1997 IEEE Int. Conference on Robotics \& Automation, Albuquerque, NM. The first work presented in the volume is ``Multi-arm robot system: A survey'' by M. Uchiyama. Its main topics are: a derivation of a mathematical model of a system consisting of two rigid arms holding an object, a proposal of a hybrid position/force control system, a sketch of the load sharing problem, and a description of experimental results that include the case of flexible arms and robust holding. The second paper of the volume entitled ``Kinematic manipulability of general mechanical systems'' has been authored by J. T. Wen and L. S. Wilfinger. It concentrates on two robotic systems: a two arm manipulator holding an object and the Stewart platform. A mathematical model of differential kinematics and static force is introduced and used in order to derive velocity and force manipulability ellipsoids for constraint systems. The concept of stable and manipulable grasp for constrained mechanical systems is discussed, and a means for the comparison of manipulability ellipsoids is proposed enabling a study of the effect of arm bracing on manipulability. The third contribution, by P. Chiacchio and S. Chiaverini, is entitled ``Kinematic control of dual-arm system.'' It contains a formulation and solution of a control problem in the taskspace of a pair of cooperating manipulators. The solution is two-fold: fist an inverse kinematic problem is solved, second a jointspace position control algorithm is set forth extendible by a force control loop. The next paper ``Load distribution and control of interacting manipulators'' has been written by M. A. Unseren. It again addresses the problem of modeling and control of two serial arms holding a rigid object, however the approach to this problem is more advanced than in paper 1. The fifth contribution bearing a title ``Multi-fingered hands: A survey'' has been submitted by I. D. Walker. It includes a systematic introduction into the problem of grasp synthesis realised by multi-fingered hands. Particular attention is paid to the grasp planning problem, rolling contact kinematics, and the role of friction in grasp synthesis. An extensive bibliography of 144 items is an advantage of this text. The last work in the volume is ``Grasping optimisation and control'' by F. Pfeiffer. Three strategies of grasp planning are derived by solving three specific optimisation problems consisting in optimising the force distributions among the fingers with several additional equality or inequality constraints. The grasp strategies have been tested experimentally using the TUM hydraulic hand. Summarising, beyond any doubts this volume presents exhaustively and adequately the state of the art in modelling and control of robotic systems, with emphasis on cooperating manipulators and multi-fingered hands. However, in my opinion, except for papers number 3, 5 and partially 2, the contributors have not made every effort to make their work self-contained and accessible to a wider (though professional) readership. I do not feel able to recommend this volume to my students of robotics.