Experimental robotics I. The first international symposium Montreal, Canada, June 19-21, 1989 (Q1188743)

The articles of this volume will not be indexed individually. This book is a collection of 35 contributed papers reflecting state of art in robotics research due to the date of the event (June 1989), where attention is mainly paid to the experimental validation of theoretical concepts in robot control, design, environment perception, kinematics and motion planning. Issues related to the uncertainty of robot operations and to the ways to reduce it, extensions to the repertoire of usual robot tasks, coordination and redundancy management are among the actual topics which are discussed. In section 1 modeling and control of flexible limb robots is studied. Force control schemes, adaptive compliance control algorithms and coordinated control of complex robot systems are the topics of 8 papers. Unconventional robot tasks are characterized in two papers. Section 2 deals with robot system design issues. Attention is paid to the low velocity robot behavior due to friction. Original actuators are presented in two papers. Position/force control aspects at joint level are analyzed in another two papers. They are also represented in that section studies of some structural properties of manipulators. In section 3 world modeling issues are discussed in the context of autonomous navigation. Guidance problem related to mobile robot and to the sensory based grasping are also dealt with. Two papers address visual servoing problems. Three papers deal with tactile recognition, interpretation and application of that kind of data in robot control algorithm. In section 4 problems due to the kinematical inversion are studied together with three robot calibration methods. Finally, in section 5 one paper is devoted to the fine motion study and the last two papers are dealing with gross motion planning.