Experimental Robotics III: The 3rd International Symposium, by Tsuneo Yoshikawa, Fumio Miyazaki

By Tsuneo Yoshikawa, Fumio Miyazaki

This is often the 3rd in a chain of specialised foreign symposia held each years and devoted to providing and discussing extensive the study effects and on-going advancements in robotics that have either theoretical foundations and experimental validations. There are forty three papers, from 10 nations, awarded in 9 titled sections.

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Additional info for Experimental Robotics III: The 3rd International Symposium, Kyoto, Japan, October 28 - 30, 1993

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1, 1987 [6] O. Khatib, " Object Manipulation in a Multi-Effector Robot System," The International Symposium of Robotics Research, Santa Cruz, CA. August 1987. [7] M. Koga, K. Kosuge, K. Furuta, and K. Nosaki, "Coordinated Motion Control of Robot Arms Based on the Virtual Internal Model," I E E E Transactions on Robotics and Automation. Vol. 8, No. 1, pages 77-85, February 1992. [8] V. Kumar, X. Yun, E. Paljug, and N. Sarkar, "Control of Contact Conditions for Manipulation with Multiple Robotic Systems," Proceedings of the 1991 I E E E Conference on Robotics and Automation, pages 170-175, Sacramento, CA.

The majority of the existing robots is designed with the objective to provide an abstraction of a disembodied hand whose motion can arbitrarily be programmed to fit a task [3]. Singularities are, therefore, removed from the central region of the workspace. Yet, in singularity configurations the mechanism can support infinite loads in the direction of impossible velocity. Humans, for example, use singularities of their limbs to gain mechanical advantage in lifting or standing. Similar benefits can be obtained by mechanical manipulators.

Second, the grasps are lightly damped, 26 Object Position Response Object Orientation Response ~]0t ............. i:............. g°-~ ............. i. . . . . . . O. 0 -i 5 ........................ 6 Internal Force R~ponse ..... i............ i . . . . . ................... 5tI . 1I ............ i............. i ..... 6 Figure 7. Closed-Loop Internal Force Response During Motion Object Orientation Response Object Position Response ,~ to l ............. i:~---- ! ]............. ! o~-~-- o 0 0,2 0,4 Time, Seconds 0 0,6 i........

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