This volume contains 92 papers on the state-of-the-art in robotics research. In this volume topics on modelling and identification are treated first as they build the basis for practically all control aspects. Then, the most basic control tasks are discussed i.e. problems of inverse kinematics. Groups of papers follow which deal with various advanced control aspects. They range from rather general methods to more specialized topics such as force control and control of hydraulic robots. The problem of path planning is addressed and strategies for robots with one arm, for mobile robots and for multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control.Selected Papers from the 3rd IFAC/IFIP/IMACS Symposium, Vienna , Austria, 16 - 18 September 1991 I. Troch K. Desoyer, Peter Kopacek ... There are more publications available about the problems of friction than there are about the problem of gear play (called backlash in this publication). ... Frictional torques are modelled as mR1 and mR2 acting on the motor mass and the load mass respectively.
|Title||:||Robot Control 1991 (SYROCO'91)|
|Publisher||:||Elsevier - 2014-05-23|