By Marco Ceccarelli, Victor A. Glazunov
This court cases quantity includes papers which have been chosen after evaluate for oral presentation at ROMANSY 2014, the 20 th CISM-IFToMM Symposium on concept and perform of Robots and Manipulators. those papers hide advances on a number of facets of the large box of Robotics as pertaining to concept and perform of Robots and Manipulators.
ROMANSY 2014 is the 20th occasion in a chain that began in 1973 as one of many first convention actions on the planet on Robotics. the 1st occasion used to be held at CISM (International Centre for Mechanical technology) in Udine, Italy on 5-8 September 1973. It was once additionally the 1st subject convention of IFToMM (International Federation for the merchandising of Mechanism and desktop technological know-how) and it used to be directed not just to the IFToMM community.
Proceedings volumes of ROMANSY were continuously released to be to be had, additionally after the symposium, to a wide public of students and architects with the purpose to provide an summary of latest advances and traits within the idea, layout and perform of robots.
This court cases quantity, like prior ones of the sequence, includes contributions with achievements protecting many fields of Robotics as conception and perform of Robots and Manipulators that may be an concept for destiny developments.
Read Online or Download Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators PDF
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Extra info for Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
Figure 1 is a conceptual schematic drawing of the mechanism. Since the user’s leg and foot are fixed on links, the user’s body and the mechanism form a monolithic mechanical system. In the drawing, ankle joint is represented by a virtual joint J7, of which location changes continuously with respect to the orientation change of the foot, and there is also a virtual link between the joints J6 and J7. The degrees of freedom (DOF) of the system can be calculated with Gruebler’s equation, F ¼ F s ð N À 1Þ À XFs À1 f ¼1 ðFs À f ÞPf : ð1Þ where Fs is the DOF of the workspace, N is the number of links, and Pf is the number of joints having f-DOF.
Anal. 2, 115–118 (1965) 3. : Interval arithmetic in matrix computations, part II. SIAM J. Numer. Anal. 4, 1–9 (1967) 4. : Interval Methods for Systems of Equations. Cambridge University Press, Cambridge (1990) 5. : Admissible solutions of linear systems with not sharply defined coefficients. J. Soc. Ind. Appl. Math. Series B. Numer. Anal. 2, 291–299 (1965) 6. : Concerning the solution set of Ax = b where P B A B Q and p B b B q. Numer. Math. 35, 355–359 (1980) 7. : Interval linear systems with symmetric matrices, skew-symmetric matrices and dependencies in the right hand side.
The parametric interval system provides the exact solution with more computation effort. For offline analysis such as the investigation of workspace of manipulators, since the calculation time is not a concern, the parametric interval method is valuable. In real time applications, methods that are not computationally expensive are better suited. As a future work, the motion analysis of manipulators with uncertainty in the kinematic parameters, velocity limits of the joints and the joint failure will be investigated.