Romansy 16 Robot Design, Dynamics, and Control
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CISM COURSES AND LECTURES
Series Editors" The Rectors Giulio M a i e r - Milan Jean Salen~on- Palaiseau Wilhelm Schneider- Wien
The Secretary General Bernhard Schrefler- Padua
Executive Editor Paolo Serafini - 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 is 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. 487
R O M A N S Y 16 ROBOT DESIGN, DYNAMICS, AND CONTROL
EDITED BY TERESA ZIELnqSKA, CEZARY ZIELIlqSKI WARSAW UNIVERSITY OF TECHNOLOGY
SpringerWienNewYork
This volume contains 292 illustrations and 34 tables
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. © 2006 by CISM, Udine Printed in Poland SPIN 11791393
In order to make this volume available as economically and as rapidly as possible the authors' type scripts 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 3-211-36064-6 ISBN 978-3-211-36064-4
PREFACE This volume contains the papers presented at the 16 th Symposium on Theory and Practice of Robots and Manipulators, Warsaw, June 21-24, 2006. All papers had been reviewed by two independent reviewers before they were accepted for final publication and presentation at the Symposium. The event was organized under the supervision of international Steering Committee consisting of" M. Ceccarelli (IFToMM Secretary General University of Cassino, Italy), I-Ming Chen (Nanyang Technological University, Singapore), B.Heimann (Chair of Technical Committee Robotics, Hannover University, Germany), E.Martin (Space Agency, Canada), O.Khatib (Stanford University, USA), W.Schiehlen (CISM representative, Technical University Munich, Germany), O.Takanishi (Waseda University, Japan), T.Zielihska (Warsaw University of Technology, Poland). Local Organizing Committee consisted of T.Zielihska, M. Olszewski, C.Zielihski, K.K¢dzior from Warsaw University of Technology, K.Kozlowski from Poznah Technical University, and K. Tchoh from Wroclaw Technical University. The symposium was held at the Faculty of Mechatronics, Warsaw University of Technology.
Main Building, Warsaw University of Technology The 1 st CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators was held on Sept. 5-8, 1973, in Udine, Italy, not long after IFToMM had been founded in 1969. The first ROMANSY, or Ro.Man.Sy, as the Symposium used to be referred to, marks the beginning of a long-lasting partnership between two international institutions, CISM, t
