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Series Editors: The Rectors of CISM Sandor Kaliszky - Budapest Mahir Sayir - Zurich Wilhelm Schneider - Wien The Secretary General of CISM Giovanni Bianchi - Milan Executive Editor Carlo Tasso - Udine

The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series in to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.

INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES - No. 361

THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS Proceedings of RoManSy 10: The Tenth CISM-IFToMM Symposium EDITED BY A. MORECKI WARSAW UNIVERSITY OF TECHNOLOGY

AND

G.BIANCHI POLYTECHNICAL UNIVERSITY OF MILAN AND

K.JAWOREK WARSAW UNIVERSITY OF TECHNOLOGY

SPRINGER-VERLAG WIEN GMBH

Le spese di stampa di questo volume sono in parte coperte da contributi del Consiglio Nazionale delle Ricerche.

This volume contains 237 illustrations

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks.

© 1995 by

Springer-VerlagWien

Originally published by Springer-Verlag Wien New York in 1995

In order to make this volume available as economically and as rapidly as possible the authors' typescripts have been reproduced in their original forms. This method unfortunately has its typographical limitations but it is hoped that they in no way distract the reader.

ISBN 978-3-211-82697-3 DOI 10.1007/978-3-7091-2698-1

ISBN 978-3-7091-2698-1 (eBook)

PREFACE

The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the ten symposia to date present a world view of the state of the art, including a unique record of the results achieved in central and eastern Europe. RoManSy /0, held September 12-15, 1994 in Gdansk, Poland was attended by 64 participants from seventeen countries. The proceedings of this tenth edition of RoManSy focus mainly on problems of mechanical engineering and control. In his opening lecture, 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). They appear here in the order and form in which they were presented in the various working sessions. RoManSy 11 will be held in Udine, Italy in September 1996.

The Editors express their thanks to A. Ferenc of the Warsaw University of Technology for his help in the pr