ROMANSY 21 - Robot Design, Dynamics and Control Proceedings of the 2
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wid
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Vincenzo Parenti-Castelli Werner Schiehlen Editors
ROMANSY 21 Robot Design, Dynamics and Control Proceedings of the 21st CISM-IFToMM Symposium, June 20–23, Udine, Italy
CISM International Centre for Mechanical Sciences Courses and Lectures Volume 569
Series editors The Rectors Friedrich Pfeiffer, Munich, Germany Franz G. Rammerstorfer, Vienna, Austria Elisabeth Guazzelli, Marseille, France The Secretary General Bernhard Schrefler, Padua, Italy Executive Editor Paolo Serafini, Udine, Italy
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.
More information about this series at http://www.springer.com/series/76
Vincenzo Parenti-Castelli Werner Schiehlen Editors
ROMANSY 21 - Robot Design, Dynamics and Control Proceedings of the 21st CISM-IFToMM Symposium, June 20–23, Udine, Italy
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Editors Vincenzo Parenti-Castelli Department of Industrial Engineering University of Bologna Bologna Italy
Werner Schiehlen Institute of Engineering and Computational Mechanics University of Stuttgart Stuttgart Germany
ISSN 0254-1971 ISSN 2309-3706 (electronic) CISM International Centre for Mechanical Sciences ISBN 978-3-319-33713-5 ISBN 978-3-319-33714-2 (eBook) DOI 10.1007/978-3-319-33714-2 Library of Congress Control Number: 2016939114 © CISM International Centre for Mechanical Sciences 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG Switzerland
Preface
The First CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators was held during September 5–8, 1973, in Udine, Italy, not long after IFToMM had been founded in 1
