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Table of Contents
Preface; Contents; Design and Manufacturing of the Robot; 1 Critical Review and Progress of Adaptive Controller Design for Robot Arms; Abstract; 1 Introduction; 2 General Adaptive Control; 3 Adaptive Control for Robotic Manipulators; 4 Conclusion; Acknowledgments; References; 2 Stiffness Analysis of a Planar 3-RPS Parallel Manipulator; Abstract; 1 Introduction; 2 Stiffness Model of the Planar 3-RPS PM; 2.1 Kinematics Description; 2.2 Stiffness Matrix Establishment; 3 Stiffness Characteristics Analysis; 3.1 The Eigenscrew Decomposition of Stiffness Matrix.
3.2 The Principle Axes Decomposition of Spatial Stiffness Matrix3.3 Compliant Axis and Center of Compliance; 3.4 The Stiffness Characteristics Along Z-Axis; 4 Numerical Examples; 4.1 Finite Element Analysis; 4.2 Decomposition of Planar 3-RPS PM Stiffness Matrix; 4.3 Compliant Axes of Planar 3-RPS PM; 5 Conclusions; References; 3 Overview of an Engineering Teaching Module on Robotics Safety; Abstract; 1 Introduction; 2 Types of Robots and Industrial Robots; 2.1 Classifications of Robots; 2.2 Cartesian Coordinate Robots; 2.3 Cylindrical Robots; 2.4 Spherical/Polar Robots.
2.5 Articulated/Joint-Arm Robots2.6 Industrial Robot Components; 3 Types and Sources of Robotics Hazards; 3.1 Types of Robot Accidents; 3.2 Sources of Hazards; 4 Robot Safety Requirements; 4.1 Requirements and Safety Measures in Normal Operation; 4.2 Demands and Safety Measures in Special Operation Modes; 4.3 Demands on Safety Control Systems; 5 Robot Safeguards; 6 Robot Safety Standards; 6.1 Standard ANSI/RIA R15.06/ANSI/RIA/ISO 10218/RIA TR R15.206; 6.2 Standard CAN/CSA-Z434-03 (R2013); 6.3 Standards ISO 10218-1:2011 and ISO 10218-2:2011; 7 Conclusion; Acknowledgments; References.
4 Mobile Robot Applied to QR Landmark Localization Based on the Keystone EffectAbstract; 1 Introduction; 2 Related Work; 3 Localization of QR Landmark; 3.1 Binarization; 3.2 QR Code Extraction; 3.3 Evaluation of Rotation Angle Based on Keystone Effect; 4 The Necessity of QR Landmark Localization for Mobile Robot Applications; 5 Mobile Robot Actions Based on QR Landmarks; 6 Experimental Works and Evaluation; 7 Conclusion; Acknowledgments; References; 5 A Collective Behaviour Framework for Multi-agent Systems; Abstract; 1 Introduction; 2 Collective Behavior Framework.
2.1 Forces Applied to Robots2.2 Generic Grouping Algorithm; 2.3 Coordinated Motion of Swarm; 3 Evaluation of the System; 4 Conclusions; Acknowledgments; References; 6 Kinematic Performance Analysis of a Hybrid-Driven Waist Rehabilitation Robot; Abstract; 1 Introduction; 2 Structure Design; 3 Inverse Kinematics and Statics; 3.1 Inverse Kinematics; 3.2 Static Analysis; 4 Kinematic Performance Analysis; 4.1 Workspace Analysis; 4.2 Dexterity Analysis; 4.3 Stiffness Analysis; 5 Conclusion; Acknowledgments; References.
3.2 The Principle Axes Decomposition of Spatial Stiffness Matrix3.3 Compliant Axis and Center of Compliance; 3.4 The Stiffness Characteristics Along Z-Axis; 4 Numerical Examples; 4.1 Finite Element Analysis; 4.2 Decomposition of Planar 3-RPS PM Stiffness Matrix; 4.3 Compliant Axes of Planar 3-RPS PM; 5 Conclusions; References; 3 Overview of an Engineering Teaching Module on Robotics Safety; Abstract; 1 Introduction; 2 Types of Robots and Industrial Robots; 2.1 Classifications of Robots; 2.2 Cartesian Coordinate Robots; 2.3 Cylindrical Robots; 2.4 Spherical/Polar Robots.
2.5 Articulated/Joint-Arm Robots2.6 Industrial Robot Components; 3 Types and Sources of Robotics Hazards; 3.1 Types of Robot Accidents; 3.2 Sources of Hazards; 4 Robot Safety Requirements; 4.1 Requirements and Safety Measures in Normal Operation; 4.2 Demands and Safety Measures in Special Operation Modes; 4.3 Demands on Safety Control Systems; 5 Robot Safeguards; 6 Robot Safety Standards; 6.1 Standard ANSI/RIA R15.06/ANSI/RIA/ISO 10218/RIA TR R15.206; 6.2 Standard CAN/CSA-Z434-03 (R2013); 6.3 Standards ISO 10218-1:2011 and ISO 10218-2:2011; 7 Conclusion; Acknowledgments; References.
4 Mobile Robot Applied to QR Landmark Localization Based on the Keystone EffectAbstract; 1 Introduction; 2 Related Work; 3 Localization of QR Landmark; 3.1 Binarization; 3.2 QR Code Extraction; 3.3 Evaluation of Rotation Angle Based on Keystone Effect; 4 The Necessity of QR Landmark Localization for Mobile Robot Applications; 5 Mobile Robot Actions Based on QR Landmarks; 6 Experimental Works and Evaluation; 7 Conclusion; Acknowledgments; References; 5 A Collective Behaviour Framework for Multi-agent Systems; Abstract; 1 Introduction; 2 Collective Behavior Framework.
2.1 Forces Applied to Robots2.2 Generic Grouping Algorithm; 2.3 Coordinated Motion of Swarm; 3 Evaluation of the System; 4 Conclusions; Acknowledgments; References; 6 Kinematic Performance Analysis of a Hybrid-Driven Waist Rehabilitation Robot; Abstract; 1 Introduction; 2 Structure Design; 3 Inverse Kinematics and Statics; 3.1 Inverse Kinematics; 3.2 Static Analysis; 4 Kinematic Performance Analysis; 4.1 Workspace Analysis; 4.2 Dexterity Analysis; 4.3 Stiffness Analysis; 5 Conclusion; Acknowledgments; References.