Theory and Practice of Robots and Manipulators

The proceedings of this fifth symposium contain 44 contributions by experts in robotics from 14 countries. Now more than a decade old, the RoManSy meetings on robotics focus primarily on mechanical engineering and control, drawing heavily on work in Eastern Europe and the USSR. The proceedings of this fifth symposium contain 44 contributions by experts in robotics from 14 countries. Following a general lecture by A. Morecki and K. Kedzior on Biomechanical Aspects in Robotics, the working papers cover mechanics, control of motion, synthesis and design, biomechanics of motion-locomotion, man-intelligent machine systems, application and performance evaluations.Selected ContentsMechanics. On the Optimal Selection and Placement of Manipulators, V. Scheinman and B. Roth Trajectory Planning for Redundant Manipulators on the Presence of Obstacles, N. Kircanski and M. Vikobratovic Industrial robots with Recuperation of Mechanical Energy, K. V Frolov, A. I. Korendiasev, B. L. Salamadra, and L. I. Tyves Control of Motion. Keyboard Playing by an Anthropomorphic Robot: Fingers and Arm Model and its Control System of WAM-7R, S. Sugano, J. Nakagawa, Y Tanaka, and I. Kato Robot Control and Computer Languages, R. P Paul and V Hayward Robust Control for Industrial Robots, H. Bremer, A. Truckenbrodt Man-Intelligent Machine Systems. An Electropneumatic Actuation System for the Utah/MIT Dextrous Hand, S. C. Jacobsen, D. F. Knutti, K. B. Biggers, E. K. Iversen, and J. E. Wood Representing Three-Dimensional Shape, M. Brady, A. Yuille Synthesis and Design. A New Design Method of Servo-Actuators Based on the Shape-Memory Effect, S. Hirose, K. Ikuta, and Y Umetani Mechanical and Geometric Design of the Adaptive Suspension Vehicle, K. J. Waldron, S. M. Song, S. L. Wang, and V. J. Vohnout Biomechanics of Motion, Locomotion. A Hierarchically-Structure System for Computer Control of a Hexapod Walking Machine, R. B. McGhee, D. E. Orin, D. R. Pugh, and M. R. Patterson Trotting and Bounding in a Planar Two-Legged Model, K. N. Murphy and M. H. Raibert Application and Performance Evaluation. Determination of Important Design Parameters for Industrial Robots from the Application Point of View, R. D. Schraft and M. C. WannerTheory and Practice of Robots and Manipulators is included in the Artificial Intelligence Series, Research Reports and Notes, edited by Michael Brady and Patrick Winston.