Robotics in Alpe-Adria Region: Proceedings of the 2nd International Workshop (RAA ’93), June 1993, Krems, Austria

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Peter Kopacek
Springer Science & Business Media, Dec 6, 2012 - Science - 230 pages
Industrial robots as a kind of a mechatronic system were the objects for intensive scientific research in the last years. Kinematics and kinetics, advanced control algorithms, flexible robots, mobile robots, cooperation of robots were research topics. Meanwhile the industrial robot is more or less a tool on the shop floor level like NC- and CNC-machines, transportation and storage devices. The current research landscape on industrial robots can be divided in two directions. The first direction is the scientific one and topics like fuzzy control, applications of neuronal networks, application of methods of artificial intelligence for robot control, optimal path planning are currently headlines in this field. On the other hand the application oriented research goes in the direction to develop and create new low-cost concepts including industrial robots applicable in a commercially efficient way mainly in small and medium sized companies. The industry in most of the member countries of the Alpe-Adria Group are dominated by small and medium sized companies. Industrial robots together with the appropriate CIM-concepts are a very efficient tool for increasing the flexibility of such companies. At the first meeting in Portoroz (June 1992), a first overview on robotics research and applications in Alpe-Adria countries was given. First steps were done in the direction of a broader cooperation in science, development, production and level of education among these countries.
 

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Contents

Robotics Research in Austria K Desoyer P Kopacek I Troch
8
P Kopacek A P Otto J Wernstedt D
24
Applied Robotics Group Research Activities at the ITIA Institute
34
Robot Wrist Configurations Mechanisms and Kinematics
44
Robot Arm Modelling and Control S Uran K Jezernik SLO
54
Considerations for the Construction of Lightweight Robots
64
Design of SCARA Robot D Noe M Skubic SLO
74
Designing Manipulators for a Robotized Manufacturing
84
Recognition of Threedimensional Objects Using Twodimensional Subspaces
133
Design of a Planetary Leg Mechanism Using Chebyshevs Optimization
143
Speech and Autonomous Navigation
153
CAD for Robot Workcells in Battery Manufacturing
163
Low Cost CADCAMcoupling Applications of Artificial Intelligence
173
Computer Aided Planning of Robotized Assembly Systems
183
Data Structures and Procedures for Computer Representation of Robot Cells
193
a New Method for Testing Industrial Robots
203

USIS an Advanced 3DRobot Simulation System
94
ALMORO Symbolic Robot Dynamics Customizer K Swider A
104
Robot Control
113
Robust Adaptive Lyapunov based Robot Control V Vesely D Kalas SLO
123
Low Cost Automated Measuring System for Circularity Measurements
213
Modular Parallel Gripper System G Kronreif R Probst A
221
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