Theory and Practice of Robots and Manipulators Proceedings of RoManS
The RO MAN SY Symposia have played an important role in the development of the theory and, to a lesser extent, the practice of manipulators, walking machines and robots. Based on past experience of previous symposia, which have been held over the last 10
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Theory and Practice of Robots and Manipulators Proceedings of RoManSy '84: The Fifth CISM - IFToMM Symposium Edited by A Morecki, G Bianchi and K ~zior
Sponsored by the CISM-Centre Intemational des Sciences Mecaniques IFToMM-Intemational Federation for the Theo"Y of Machines and Mechanisms in association with the IVth Technical Division of the Polish Academy of Sciences Co-sponsored by the Institute for Aircraft Engineering and Applied Mechanics, Technical University of Warsaw
Kogan Page, London Hermes Publishing
First published 1985 by Kogan Page Ltd, 120 Pentonville Road, London N1 9JN and Hermes Publishing, 51 rue Rennequin, 75017 Paris, France Copyright © 1985 RoManSy and contributors Ali rights reserved British Library Cataloguing in Publication Data Symposium on the Theory and Pracrice of Robots and Manipulators (5th: 1985) RoManSy '84: proceedings of the 5th Symposium on the Theory and Practice of Robots and Manipulators. 1. Robots, Industrial 1. Tirle II. Morecki, A. III. Bianchi, G. IV. Kedzio r, K. 629.8'92 TS191.8 ISBN 978-1-4615-9884-8 DOI 10.1007/978-1-4615-9882-4
ISBN 978-1-4615-9882-4 (eBook)
Contents
Preface. . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 11 Editorial Note ....... , •..... '. . . . . . . . . . . . . . . . • • • . . . . . . . . . .. 13 Part 1 Opening Lecture 15 Biomechanical Aspects in Robotics. . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 17 A Morecki and K K¢zior Part 2 Mechanics Coordinate Transformations and Inverse kinematics for Industrial Robots . . . . . . . . . . . . . . . . . . . . . . . • . . • • . • . • . M S Konstantinov, P Y Genova, VB Zamanov, S P Patarinskiand D N Nenchev Industrial Robots with Recuperation of Mechanical Energy. . . • • . K V Frolov, A I Korendiasev, B L Salamandra and L I Tyves On the Optimal Selection and Placement of Manipulators. . • . • • . V Scheinman and BRoth On the Geometry of Orthogonal and Reciprocal Sc:rtws . • • . . • • . H Lipkin and J Duffy Trajectory Planning for Redundant Manipulators in the Presence of Obstacles. . . . . . . . . . . . . . . . . . . • • . • . • . • • • . . M Kireanskiand M Vukobratovic Implementation of Highly Efficient Analytical Robot Models on Microcomputers. . . . . . . . . . . . . . . . • • • . • • • • . • . M Vukobratovic and N Kircanski Computer-aided Generation of Multibody-system Equations. , • • . R Schwertassek and R E Roberson Equations of Motion and Equations of Stress for Robots and Manipulators: An Application of the NEWEUL Formalism. . • • . . E J Kreuzer and W 0 Schiehlen Modelling of Artificial Manipulators and Computer Simulation of their Dynamics . . . . . . . . . . . . . . . . . • • • • • • . . T Kawase, H Nakano and R Magoshi Dynamics of Robots and Manipulators Involving Closed Loops ..•.......••....•........•.•....•.•••• , . . T R Kane and H Faessler
23 . . . . . . .. 25 . . . . . . .. 31 . . . . . . .. 39 . . . . . . .. 47 . . . . . . .. 57 . . . . . . .. 65 . . . . . . .. 73 . . . . . . .. 79 . . . . . . .. 87 • . . . . . .. 9
