| Description |
1 online resource (xvi, 615 pages) : illustrations (some color) |
| Series |
Mechanisms and machine science, 2211-0992 ; volume 120 |
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Mechanisms and machine science ; v. 120. 2211-0992
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| Contents |
Intro -- Preface -- Welcome Address from the Founder of RAAD, Jadran Lenarčič -- Contents -- Robot Modeling and Identification -- Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System -- 1 Introduction -- 2 Kinematic Parameters -- 3 Experimental Identification of DH Parameter -- 3.1 Experimental Setup -- 3.2 Results -- 4 Conclusion -- References -- Kinematics of the "Ai-Gerim" Robot Arm -- 1 Introduction -- 2 Direct Kinematics -- 3 Inverse Kinematics -- 4 Conclusion -- References |
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Singularity Robust Inverse Kinematics of Serial Manipulators by Means of a Joint Arc Length Parameterization -- 1 Introduction -- 2 Kinematics in Terms of Path Parameter -- 2.1 Forward Kinematics -- 2.2 Inverse Kinematics -- 3 Kinematics in Terms of Arc Length -- 3.1 Arc Length Parameterization -- 3.2 Numerical Solution of the Initial Value Problem -- 4 A Singularity-Consistent Sampling Scheme -- 5 Simulation Results -- 6 Conclusion and Outlook -- References -- Simulation of the Effects of Backlash on the Performance of a Collaborative Robot: A Preliminary Case Study -- 1 Introduction |
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2 Dynamic Model of a UR5 Collaborative Robot -- 2.1 Moto-Reducers -- 2.2 Sensors -- 3 Simulations Results -- 4 Conclusions -- References -- Modeling and Analysis of an S-Shape Link for an Anthropomorphic Robotic Arm -- 1 Introduction -- 2 Problem Formulation -- 3 S-Shape Link Design and Analysis -- 3.1 Discretized Modelling -- 3.2 Augmentation of Compliance Matrix -- 4 Conclusion -- References s -- Parallelized Forward Kinematics Using Product of Exponentials in PyTorch -- 1 Introduction -- 2 Forward Kinematics Using Product of Exponentials -- 3 Parallelization Approach -- 3.1 Vector to so(3) |
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3.2 so(3) to Vector -- 3.3 Vector to se(3) -- 3.4 MatrixExp3 -- 3.5 MatrixExp6 -- 3.6 Full Product Implementation -- 4 Results -- 5 Conclusion -- References -- Simultaneous Calibration and Stiffness Identification of Flexible Link Robots Using Lumped Parameter Model -- 1 Introduction -- 2 Lumped Parameter Model -- 2.1 Kinematic Model -- 2.2 Dynamic Model -- 3 Parameter Identification -- 4 Results -- 5 Conclusion -- References -- Analysis of the Singularities Influence on the Forward Kinematics Solution and the Geometry of the Workspace of the Gough-Stewart Platform -- 1 Introduction |
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2 Mathematical Model of the Platform -- 3 Analysis of the Singularities Influence on the Forward Kinematics -- 4 Analysis of the Influence of Singularities on the Geometry of the Workspace -- 5 Conclusion -- References -- Perception and Learning -- Structure Synthesis for Extended Robot State Automata -- 1 Introduction -- 2 Related Work -- 3 Marking Formalism -- 4 Algorithms -- 5 Experiments -- 6 Conclusion -- References -- Intuitive Optimization of Kinesthetic Programmed Trajectories for Fiber Spraying -- 1 Introduction -- 2 Related Work -- 3 Optimization of Kinesthetic Programmed Trajectories |
| Summary |
This book presents the proceedings of the 31st International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), held in Klagenfurt, Austria, June 8-10, 2022. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments |
| Notes |
Includes author index |
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Online resource; title from PDF title page (SpringerLink, viewed April 27, 2022) |
| Subject |
Robotics -- Congresses
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Robotics
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| Genre/Form |
proceedings (reports)
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Conference papers and proceedings
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Conference papers and proceedings.
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Actes de congrès.
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| Form |
Electronic book
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| Author |
Müller, Andreas (Lecturer in mechanics and robotics), editor.
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Brandstötter, Mathias, editor
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| ISBN |
9783031048708 |
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3031048709 |
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