ROMANSY 18 - Robot Design, Dynamics and Control

Keynote LecturersWhere future robots should go and should not go (M. Kaneko, M. Higashimori)Robust drives for parallel robots (J. Angeles)Minimal-form multi-body dynamics for embedded multidisciplinary applications (A. Kecskeméthy)CHAPTER I: Novel Robot Design and Robot Modules/ Components Constructive redesign of a modular metamorphic micro gripper (L. Bruzzone, G. Bozzini)A one-motor full-mobility 6-PUS manipulator (P. Grosch, R. DiGregorio, F. Thomas)Dynamic hybrid position/force control for parallel robot manipulators (W. Deng, H.J. Lee, J.-Won Lee)Decoupled parallel manipulator with universal joints and additional constraints (L. Tyves, V. Glazunov, P. Danilin, N.M. Thanh)Positio: a 4R serial manipulator having a surface of isotropic positioning (K. Akrout, L. Baron)Joint space and work space analysis of a two-DOF closed chain manipulator (D. Chablat)Identification of base parameters for large-scale kinematic chains based on physical consistency approximation by poly-hedral convex cones (K. Ayusawa, Y. Nakamura)Modeling effects on free vibration of a two-link flexible manipulator (C. diCastri, A. Messina)Chatter suppression in sliding mode control: strategies and tuning methods (M. O'Toole, K. Bouazza-Marouf, D. Kerr)On solving the forward kinematics of the 6-6 General parallel manipulator with an efficient evolutionary algorithm (L. Rolland, R. Chandra)Determination of mobility in a kinematic chain by properly using the Jacobian matrix (A. Tadeo, J.Pérez, J.M. Rico, J.J. Cervantes)Micro hinges and their application to micro robot mechanisms (M. Horie)Parallel RPR-?-RPR manipulator generating 2-DOF translational on gone sheet revolute hyperboloid (C.C. Lee, J.M. Hervé)A study on the effects of cable mass and elasticity in cable-based parallel manipulators (E. Ottaviano, G. Castelli)CHAPTER II: Service, Education, Medical, Space, Welfare and Rescue Robots Motion planning of the trident snake robot: an endogenous configuration spaceapproach (J. Jakubiak, K.