Robotics and Mechatronics Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics 4th Edition by Saïd Zeghloul, Med Amine Laribi, Jean Pierre Gazeau 3319223674 9783319223674

Robotics and Mechatronics Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics 4th Edition by Saïd Zeghloul, Med Amine Laribi, Jean Pierre Gazeau – Ebook PDF Instant Download/Delivery. 3319223674, 9783319223674

Full download Robotics and Mechatronics Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics 4th Edition after payment

Product details:

ISBN 10: 3319223674

ISBN 13: 9783319223674

Author: Saïd Zeghloul, Med Amine Laribi, Jean Pierre Gazeau

This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015. These papers  provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes. The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

Robotics and Mechatronics Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics 4th Table of contents:

Part IMechanism and Advanced MechanicalDesign

1 A Study of Structural Stress Analysis of Reducers for Supporting Reliability Design

Abstract

1 Introduction

2 Reliability Calculation

3 Frequency Response Function (FRF)

4 Design of Differential Reducer (DR)

5 Analysis of Differential Reducer

6 Reliability Evaluation

7 Conclusion

Acknowledgment

References

2 Structural and Dimensional Synthesis of Parallel Manipulator with Two End—Effectors

Abstract

1 Introduction

2 Structural Synthesis of PM with Two End-Effectors

3 Dimensional Synthesis of PM with Two End-Effectors

4 Numerical Example

5 Conclusions

References

3 Parametric Design Optimization of Two Link Robotic Manipulator

Abstract

1 Introduction

2 Kinematic and Dynamic Models of Robot

2.1 Kinematic Model

3 Dexterity of Robot

3.1 Jacobian and Inverse Jacobian Matrix

4 Condition Number

5 Optimization Design

5.1 Workspace Optimization

6 Results and Discussions

7 Conclusions

4 Investigation of the Behaviour of a New Miniature Carbon-Paraffin Phase-Change Actuator

Abstract

1 Introduction

2 Presentation of the New Actuator

3 Experimental Characterisation of the Actuator

3.1 Experimental Setup

3.2 Resistance and Deflection Measurements

4 Argumented Analysis of the Experimental Results

4.1 Factors Influencing the Measurements

4.2 Behavioural Analysis of the Actuator

5 Conclusions

Acknowledgments

References

5 Enumeration of Driving Mechanisms in Robotics by Combinatorial Analysis Method

Abstract

1 Introduction

2 Preliminary: Basic Notions, Terminology, Definitions and Restrictions

3 Method for Calculating the Number of Actuator Mechanisms

3.1 One Degree of Freedom Chains

3.2 Two Degrees of Freedom Chains

4 Computer Program and Examples of Application

5 Conclusions

References

Part IIHumanoid and Legged Robotics

6 Design and Experiments on a New Humanoid Robot: TIDOM

Abstract

1 Introduction

2 Presentation of TIDOM

2.1 Mechanical Design

2.2 Control Architecture

3 Preliminary Experiments

3.1 Quasistatic Gait Generation

3.2 First Experiment: Squat Motion

3.3 Second Experiment: Sway Motion

4 Conclusions

Acknowledgments

References

7 Experimental Inspiration and Rapid Prototyping of a Novel Humanoid Torso

Abstract

1 Introduction

2 The Attached Problem

3 Human Torso Behavior Characterization

4 A New Design with PKM Structure

5 Conclusions

References

8 Design of Robots Used as Education Companion and Tutor

Abstract

1 Introduction

2 Design Criteria

2.1 Form

2.2 Actuation and Mobility

2.3 Interaction Capability

2.4 Sensors

3 Robots in Focus

3.1 Humanoid Robots

3.1.1 Nao Robot

3.1.2 Asimo Robot

3.2 Semi-humanoid Robots

3.2.1 Tiro Robot

3.2.2 Robovie R3

3.2.3 Papero

3.2.4 Maggie

3.2.5 Saya Robot

3.3 Pet Robots

3.3.1 Pleo the Dinosaur

3.3.2 EMuu

3.3.3 Probo

3.3.4 The Huggable

3.3.5 DragonBot

3.3.6 Leonardo

4 Summary

Acknowledgments

References

9 Walking of a Biped Robot Balanced with a Reciprocating Torso

Abstract

1 Introduction

2 Biped Robot Description

3 Trajectory Planning

4 Kinematic Modelling

5 ZMP as Walking Stability Criterion

6 Experimentation

7 Conclusions

References

Part IIIParallel Manipulators

10 Determining the Reachable Workspace for 6-DOF Delta Manipulators

Abstract

1 Introduction

2 Characteristics of Workspace Boundaries

3 6-DOF Delta Manipulators

4 Conclusions

Acknowledgments

References

11 A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance

Abstract

1 Introduction

2 Description of the Delta-Type Robot

2.1 Proposed Reconfiguration Strategy

3 Direct Kinematic Analysis of the Reconfigurable Mechanism

4 Performance Indices

5 Conclusions

References

12 Workspace and Singularity Analysis of a Delta like Family Robot

Abstract

1 Introduction

2 Manipulators Architecture

3 Singularity Analysis

4 Workspace Analysis

5 Conclusions

Acknowledgements

References

13 Optimal Trajectory Planning of 3RRR Parallel Robot Using Ant Colony Algorithm

Abstract

1 Introduction

2 Description of 3RRR Parallel Robot

3 Inverse Kinematic Model of 3RRR Parallel Robot

4 Numerical Implementation

5 Workspace Analysis

6 Optimal Planning Trajectory Using Ant Colony Algorithm

6.1 Ant Colony Algorithm Description

6.2 Formulated Problem and Results

7 Conclusion

References

Part IVMedical Robotics I

14 Force Control Implementation of a Haptic Device for a Medical Use

Abstract

1 Introduction

2 Master Device for a Medical Tele-Operation System

3 Force Control Architecture

4 Forward Kinematic Model

5 Experimental Test

6 Conclusions

Acknowledgments

References

15 Integration of Automated Camera Steering for Robotic Single-Site Surgery

Abstract

1 Introduction

2 Methods

2.1 Automatic Control Mode

2.2 Manual Control Mode

3 Results

4 Conclusions

Acknowledgments

References

16 Kinematic Models of a New Spherical Parallel Manipulator Used as a Master Device

Abstract

1 Introduction

2 Kinematic of the New Master Device

3 Inverse Kinematic Model (IKM)

4 Forward Kinematic Model

5 Developed Prototype of the New SPM

6 Conclusions

Acknowledgments

References

17 Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery

Abstract

1 Introduction

2 Experimental Setup

3 Experimental Results

4 Discussion and Conclusions

Acknowledgments

References

Part VMedical Robotics II

18 Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation

Abstract

1 Introduction

2 Kinematic Model of Fingers Position

3 Four Bar Mechanism for Flexion Fingers Index to Little

3.1 Mechanism Design

3.2 Mechanism Kinematic Analysis

4 Results

5 Conclusions

Acknowledgments

References

19 Mechanical Design of a Craniotomy Robotic Manipulator Based on Optimal Kinematic and Force Perfor

Abstract

1 Introduction

2 Force and Kinematic Requirements

3 Mechanical Architecture Optimization

3.1 Mechanism Definition and Kinematic Model

3.2 Force and Kinematic Optimization

4 Mechatronic Design of the Robotic Manipulator

5 Conclusions

Acknowledgments

References

20 Dynamic Simulation of a Cable-Based Gait Training Machine

Abstract

1 Introduction

2 Rehabilitation Machine and Human Gait

2.1 Description of the Gait Rehabilitation Machine

2.2 Kinematics of a Normal Human Gait

3 Dynamic Simulation

3.1 Dynamic Modeling

3.2 External Wrench Determination

4 Tension Distribution Analysis

5 Conclusion

References

21 An in Vivo Experiment to Assess the Validity of the Log Linearized Hunt-Crossley Model for Contac

Abstract

1 Introduction

2 Experimental Protocol

3 Experimental Data Analysis Procedure

3.1 Measurements Noise Analysis

3.2 Model Quality Evaluation Criteria

3.2.1 Goodness-of-Fit Test

3.2.2 Model Selection Criterion

3.3 Generation of Samples of Residuals

4 Processed Experimental Data, Analysis and Discussion

Acknowledgements

References

Part VIControl and Vision

22 Real-Time Reconstruction of Heightmaps from Images Taken with an UAV

Abstract

1 Introduction

2 Previous Work

2.1 Image-Based 3D Reconstruction

2.2 Scale Estimation for Heightmaps

3 Proposed Approach

4 Results

4.1 Real-Time 3D Modeling

4.2 Marker Detection and Heightmap Generation

4.3 Off-line 3D Modeling

5 Discussion

6 Conclusion

Acknowledgments

References

23 A Human-Machine Interface with Unmanned Aerial Vehicles

Abstract

1 Introduction

2 Human-UAV Interface

3 Tracking Algorithm

4 Gesture Recognition

5 Control

6 Results

7 Conclusion

Acknowledgments

References

24 Design and Simulation of Robot Manipulator Position Control System Based on Adaptive Fuzzy PID Co

Abstract

1 Introduction

2 Intelligent Fuzzy PID Controller

2.1 Fuzzy Inference System

2.2 Input and Output Variables

2.3 Membership Function

2.4 Fuzzy Rules-Base

3 Simulation

4 Conclusion

References

25 Generating the Optimum Dynamic Trajectory of a Hybrid Cable-Serial Robot

Abstract

1 Introduction

2 Collision Free Dynamically Feasible Trajectory Planning Algorithm

2.1 The Shortest Collision-Free Trajectory

2.2 Robot Dynamics

2.3 Total Elapsed Time

2.4 Verification Algorithm

3 Results

4 Conclusion

References

26 An Integrated Software Package for Advanced Industrial Robot Applications

Abstract

1 Introduction

2 Architecture Design

3 Module Implementation

3.1 Simulation Module

3.2 Intermediate Robot Language

3.3 Graphical Interface and Visual Programming

3.4 Program Manager and Integration

4 Example Demos

4.1 Demo I: Automated Robot Bin-Picking

4.2 Demo II: Automated Robot 3d Object Taping

5 Conclusions

Acknowledgments

References

Part VIIAdvanced Robotics

27 A Method for the Approximation of the Multiple IK Solutions of Regular Manipulators Based on the

Abstract

1 Introduction

2 Problem Definition

2.1 The Configuration Subspaces Determination

2.2 The Proposed Structure of the Approximator

3 Simulated Experiments and Results

4 Conclusions

References

28 An Approach to Symbolical Formulation of Forward Kinematics of Serial Robots

Abstract

1 Introduction

2 Classical Formulation

3 Alternative Representation

4 Forward Instantaneous Kinematics

5 Example

6 Conclusions

References

29 Grasp Database Generator for Anthropomorphic Robotic Hands

Abstract

1 Introduction

2 Target Grasps

3 Grasp Preshapes

4 Grasps Generation

5 Results

6 Conclusion

Acknowledgements

References

30 From Human Motion Capture to Industrial Robot Imitation

Abstract

1 Introduction

2 Experimental Set-up

3 Biomimetics-Based Approach

3.1 Motion Adaptation

3.2 Motion Capture

3.3 Manipulator Kinematics

4 Results

5 Conclusions

Acknowledgments

References

31 Dynamic Decoupling of Adjustable Serial Manipulators Taking into Account the Changing Payload

Abstract

1 Introduction

2 Dynamic Decoupling Taking into Account the Payload

3 Computer Simulation of Example Study

3.1 Open-Loop Control System

3.2 Closed-Loop Control System

4 Conclusions

People also search for Robotics and Mechatronics Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics 4th: 

4th law of robotics

 mechatronics practical

quaternion in robotics

robotics and mechatronics