Title Advances in service and industrial robotics : proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019) / editors, Karsten Berns and Daniel Görges

Published Cham : Springer, [2019] ©2019

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Description 1 online resource : illustrations (some color) Series Advances in intelligent systems and computing ; volume 980 Advances in intelligent systems and computing ; 980. Contents Intro; Preface; Organization; General Chair; Co-chair; International Scientific Committee; Advisory Board; National Organizing Committee; Local Organizing Committee; Contents; Mechanical Design and Kinematics; An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators; Abstract; 1 Introduction; 2 Module Categories -- Module Taxonomy and Typology; 2.1 First Aspect: Operation -- Active vs Passive; 2.2 Second Aspect: Connectivity -- Automatic vs User Operated and Multiplicity; 2.3 Third Aspect: Homogeneity vs Heterogeneity 3 State of the Art Module Designs as a Basis for the Design of Modules for a Self-metamorphic Manipulator System -- Identification of Major Design Perquisites4 Discussion and Future Work; Acknowledgement; References; Geometry and Inverse Kinematics of 3-PRRS Type Parallel Manipulator; Abstract; 1 Introduction; 2 Geometry of the Parallel Manipulator; 3 Inverse Kinematics of the Parallel Manipulator; 4 Conclusions; References; Linear Motion Mechanisms for Fine Position Adjustment of Heavy Weight Platforms; Abstract; 1 Introduction; 2 The Concept; 3 Design of Motion Reducer; 4 Experiments 5 ConclusionsAcknowledgments; References; Compliant Mechanisms for Motion/Force Amplifiers for Robotics; Abstract; 1 Introduction; 2 Some Structures of Mechanical Amplifiers; 3 Design of Motion Reducer/Force Amplifier; 3.1 The Two Levers Amplifier; 3.2 Bridge-Type and Rhombus Mechanical Amplifier; 3.3 Results; 4 Conclusion; Acknowledgment; References; Design and Control of a Flapping Wing System Test Bench; 1 Introduction; 1.1 Problem Background; 1.2 Related Works; 1.3 Considerations; 2 Requirements; 3 System Model; 3.1 Mechanical Model of the System; 3.2 Equations of Movement and Dynamics 4 Test Bench Design5 Test Bench Control System; 6 Test and Results; 7 Discussion; 8 Conclusion; References; Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron; Abstract; 1 Introduction; 2 The Proposed Method; 2.1 The Metamorphic Manipulator with One Pseudo-Joint; 2.2 ANN Architecture; 3 Application and Discussion of Results; 4 Conclusions; Acknowledgement; References; Mechanical Design, Modeling and Simulation of Human-Size Cable-Driven Over-Actuated Robotic Arm; Abstract; 1 Introduction; 2 Progress Beyond the State-of-the-Art 3 Mechanical Design of Robotic Arm4 Modeling and Simulation; 5 Conclusions and Future Work; Acknowledgements; References; Robot Control; Torque-Based Velocity Control for Safe Human-Humanoid Interaction; 1 Introduction; 2 Control Method; 2.1 Low-Level Torque Control (LLTC); 2.2 Torque-Based Velocity Controller; 3 Experimental Validation; 4 Conclusion; References; On an Analytic Generation of Null Space Spanners in Robotics; 1 Introduction; 2 Preliminaries and Algorithms Generating Kernels of a Symbolic Matrix; 3 Simulations; 4 Conclusion; References Summary This book presents the proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019, held at the Fraunhofer Zentrum and the Technische Universität in Kaiserslautern, Germany, on 19-21 June 2019. The conference brought together academic researchers in robotics from 20 countries, mainly affiliated to the Alpe-Adria-Danube Region and covered all major areas of robotic research, development and innovation as well as new applications and current trends. Offering a comprehensive overview of the ongoing research in the field of robotics, the book is a source of information and inspiration for researchers wanting to improve their work and gather new ideas for future developments. It also provides researchers with an innovative and up-to-date perspective on the state of the art in this area Bibliography Includes bibliographical references and index Notes Online resource; title from PDF title page (EBSCO, viewed May 9, 2019) Subject Robotics -- Congresses TECHNOLOGY & ENGINEERING -- Engineering (General) Robotics Genre/Form Electronic books proceedings (reports) Conference papers and proceedings Conference papers and proceedings. Actes de congrès. Form Electronic book Author Berns, Karsten, editor Görges, Daniel, editor ISBN 9783030196486 3030196488

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