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Foreword; Preface; Contents; Intelligent Robot Motion Control; Kinematic Control of Redundant Robots in Changing Task Space; 1 Introduction; 2 Task Space Specification; 3 Modelling; 4 Kinematic Control; 5 Case Study; 6 Conclusion; References; Robot Force/Position Control Combined with ILC for Repetitive High Speed Applications; 1 Introduction; 2 Force/Position Control; 3 Iterative Learning Control; 3.1 Iterative Force Control; 3.2 Anticipatory P
type Learning; 3.3 Combined ILC; 4 Example; 4.1 Experiment; 4.2 Simulation; 5 Conclusion; References
On-Line Modifications of Robotic Trajectories: Learning, Coaching and Force Vs. Position Feedback1 Introduction; 2 Learning of Trajectories; 3 Robot Coaching; 3.1 Force Vs. Position Feedback; 3.2 Modified Feedback Signal; 4 Experimental Evaluation and Results; 5 Discussion; References; Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach; Abstract; 1 Introduction; 2 System Modelling; 3 Controller Design; 4 D-decomposition Method; 4.1 Swing up and Asymptotic Stabilization of Furuta Pendulum; 4.2 Simulation Results
5 Experimental Results: Cart Pendulum System6 Conclusion; Acknowledgment; References; Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF; 1 Introduction; 2 Robot System Under Study; 2.1 Design of the Robot Manipulator; 2.2 Sensor System; 2.3 Software Framework; 3 Kinematic Model; 3.1 First Substructure (Serial 3R Chain); 3.2 Second Substructure (Serial 6R Chain); 4 Virtual Compliance Control; 5 Experimental Results; 6 Conclusions; References
On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic EnvironmentAbstract; 1 Introduction; 2 Problem Statement: The Industrial Robot, the Beam and the Experiments; 3 ARX-Based Synthetic Environment; 3.1 ARX Based Modelling of the Robot-Beam System; 3.2 PI
Based Vibration Control; 4 Vibration Control Simulation and Experimental Results; 5 Conclusions; References; Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives; Abstract; 1 Introduction
2 Model of a Robot Driven by Bidirectional Antagonistic Complaint Actuators3 Control Strategy; 4 Simulation Results; 5 Conclusion; Acknowledgment; References; Robot Vision and Sensory Processing; Robotic 3D Surface Laser Scanning for Feature-Based Quality Control in Holonic Manufacturing; Abstract; 1 Introduction; 2 Robotized Part Scanning and Measuring Primitives; 2.1 Direct Surface Measurements Using the Laser Sensor; 2.2 Direct Comparison of Depth Maps; 3 3D Laser Scanning Integration with 2D Image Processing; 4 Implementing Solution and Experimental Results; 5 Conclusions; References
type Learning; 3.3 Combined ILC; 4 Example; 4.1 Experiment; 4.2 Simulation; 5 Conclusion; References
On-Line Modifications of Robotic Trajectories: Learning, Coaching and Force Vs. Position Feedback1 Introduction; 2 Learning of Trajectories; 3 Robot Coaching; 3.1 Force Vs. Position Feedback; 3.2 Modified Feedback Signal; 4 Experimental Evaluation and Results; 5 Discussion; References; Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach; Abstract; 1 Introduction; 2 System Modelling; 3 Controller Design; 4 D-decomposition Method; 4.1 Swing up and Asymptotic Stabilization of Furuta Pendulum; 4.2 Simulation Results
5 Experimental Results: Cart Pendulum System6 Conclusion; Acknowledgment; References; Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF; 1 Introduction; 2 Robot System Under Study; 2.1 Design of the Robot Manipulator; 2.2 Sensor System; 2.3 Software Framework; 3 Kinematic Model; 3.1 First Substructure (Serial 3R Chain); 3.2 Second Substructure (Serial 6R Chain); 4 Virtual Compliance Control; 5 Experimental Results; 6 Conclusions; References
On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic EnvironmentAbstract; 1 Introduction; 2 Problem Statement: The Industrial Robot, the Beam and the Experiments; 3 ARX-Based Synthetic Environment; 3.1 ARX Based Modelling of the Robot-Beam System; 3.2 PI
Based Vibration Control; 4 Vibration Control Simulation and Experimental Results; 5 Conclusions; References; Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives; Abstract; 1 Introduction
2 Model of a Robot Driven by Bidirectional Antagonistic Complaint Actuators3 Control Strategy; 4 Simulation Results; 5 Conclusion; Acknowledgment; References; Robot Vision and Sensory Processing; Robotic 3D Surface Laser Scanning for Feature-Based Quality Control in Holonic Manufacturing; Abstract; 1 Introduction; 2 Robotized Part Scanning and Measuring Primitives; 2.1 Direct Surface Measurements Using the Laser Sensor; 2.2 Direct Comparison of Depth Maps; 3 3D Laser Scanning Integration with 2D Image Processing; 4 Implementing Solution and Experimental Results; 5 Conclusions; References