Titlebook: ROMANSY 11; Theory and Practice Adam Morecki,Giovanni Bianchi,Cezary Rzymkowski Book 1997 Springer-Verlag Wien 1997 control.design.develop

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Modeling and Optimization of the Tube-Crawling Robotzation of structural parameters and possible gaits of the robot is discussed. The results obtained by computer simulation show a considerable sensitivity of operation characteristics of the robot with respect to its geometrical and kinematical parameters.

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An Inverse Force Analysis of the Spherical 3-DOF Parallel Manipulator with Three Linear Actuators Coniversal joint and to the platform with a spherical joint (see Fig.1). The fourth spherical joint between the platform and the base permits the spherical motion of the platform. Similar mechanical structures are widely used as mounting or supporting structures for solar panels, telescopes, radar and

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Nonlinear Dynamics of Computer Controlled Machinestabilized by means of some control, the task can be considered as a position or force control of a system with negative stiffness. Analytical investigation of simple models with 1–2 DOF have a central role in understanding technical phenomena and in forming the common sense in design work. Basic tex

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Identification and Compensation of Gear Friction for Modeling of Robotsliminate the dominant influence of friction in gears and joints a nonlinear friction model is adapted to measured friction characteristics. Its influence is compensated in the identification step. The base parameter vector is grouped and optimal trajectories are used to identify each group. The qual

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Designing Manipulators for Both Kinematic and Dynamic Isotropic Propertiesequalities between the condition numbers of the Jacobian matrix and matrices that represent dynamic characteristics of such robots. We show that designing a manipulator for good isotropicity of velocity (acceleration) distribution may lead to an arm with poor uniformity of acceleration (velocity) di