| Preface | |
| Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled | p. 3 |
| A General Method for a Closed-Form Solution to Robot Kinematics Problems | p. 11 |
| Fast Implementation of Robotic Manipulator Kinematics using Cordic and Systolic Processors | p. 19 |
| A Formal Framework for Specifying Robot Kinematics | p. 27 |
| Non-Geometrical Parameters Identification for Robot Kinematic Calibration by Use of Neural Network Techniques | p. 37 |
| The Use of Skew-Symmetric Cartesian Tensors in Describing Orientations and Invariants of Spatial Rotations | p. 45 |
| An Automatic Verification of Simplified Robot Models | p. 53 |
| A Comparison Between Theoretically Derived and Experimentally Verified Dynamic Modelling of a SCARA Robot | p. 61 |
| Dynamics of Robots Having Supple Bodies | p. 71 |
| A Finite Elements Model of Two-Joint Robots with Elastic Forearm | p. 79 |
| On the Modelling of the Contact Forces of Constrained Robots | p. 87 |
| Passivity and Learning Control for Robot Tasks under Geometric Constraints | p. 99 |
| A Decentralized Adaptive Controller for Robot Manipulator Trajectory Control | p. 109 |
| Robust Control of Robot Arms Using the Variable Structure Approach | p. 117 |
| A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulator | p. 125 |
| An Algorithm for the Nonlinear Adaptive Robot Control Synthesis | p. 135 |
| Model Reference Adaptive Control of Robotic Manipulators Using a Modified Output Error Method | p. 143 |
| Application of Modified Generalized Predictive Controllers to Trajectory Control of a Robot Arm | p. 151 |
| Design of Manipulator Trajectories with Minimum Motion Time and Specified Accuracy | p. 159 |
| The Use of Simulation Systems to Control Manually Operated Remote Manipulators, with Long Pure Time Delays | p. 167 |
| Path Coordinated Control of Robotic Arms | p. 175 |
| Command Matching for a Constraint Robot System | p. 183 |
| Control of a Flexible Arm for Prescribed Frequency Domain Tolerances: Modelling, Controller Design, Laboratory Experiments | p. 193 |
| High-Speed Robot Path Planning in Time-Varying Environment Employing a Diffusion Equation Strategy | p. 207 |
| Path Planning of Transfer Motions for Industrial Robots by Heuristically Controlled Decomposition of the Configuration Space | p. 217 |
| Planning and Optimization of Geometrical Trajectories Inside Collision-Free Subspaces with the Aid of High-Order Hermite Splines | p. 225 |
| A Fast and Efficient Algorithm for the Computation of Path Constrained Time-Optimal Motions | p. 235 |
| Three-Dimension Abstraction of Convex Space Path Planning | p. 245 |
| An Approach to Real-Time Flexible Path Planning | p. 253 |
| A Path Planning Method for Mobile Robots in a Structured Environment | p. 261 |
| Minimum-Time Motion Planner for Mobile Robots on Uneven Terrains | p. 271 |
| Mobile Robot Trajectory Planning | p. 279 |
| Task Modeling for Planning an Autonomous Mobile Robot | p. 287 |
| An Optimal Solution to the Robot Navigation Planning Problem Based on an Electromagnetic Analogue | p. 297 |
| Real-Time LQG Robotic Visual Tracking | p. 305 |
| Trajectory Tracking for Mobile Robot | p. 313 |
| A Robust Tracking System for Mobile Robot Guidance | p. 321 |
| A Real-Time Multiple Lane Tracker for an Autonomous Road Vehicle | p. 333 |
| An Architecture for Intelligent Mobile Robots | p. 343 |
| Software Architecture for an Autonomous Manipulator | p. 351 |
| Automatic Control of Mobility: The VAHM Project | p. 359 |
| A Modular Approach to Mobile Robot Design | p. 367 |
| Environment Representation by a Mobile Robot Using Quadtree Encoding of Range Data | p. 375 |
| Perception Planning in PANORAMA | p. 383 |
| Navigation and Perception Approach of PANORAMA Project | p. 391 |
| Trajectory Generation for Mobile Robots with Clothoids | p. 399 |
| Digital Models for Autonomous Vehicle Terrain-Following | p. 407 |
| Navigation of a Mobile Robot | p. 415 |
| Robot Navigation and Exploration in an Unknown Environment | p. 423 |
| The Optimal Next Exploration: Uncertainty Minimization in Mobile Robot Self-Location | p. 431 |
| A Parallel Blackboard Model for Mobile Robotics Control | p. 439 |
| Graphical Robot Programming: Requirements and Existing Systems | p. 451 |
| Practical Error Compensation for Use in Off-Line Programming of Robots | p. 459 |
| Intelligent Programming of Force-Constrained Cooperating Robots | p. 469 |
| Sensing Strategies Generation for Monitoring Robot Assembly Programs | p. 479 |
| Integration of a Constraint Scheme in a Programming Language for Multi-Robots | p. 487 |
| Software Architecture and Simulation Tools for Autonomous Mobile Robots | p. 495 |
| A Logical Framework of Sensor/Data Fusion | p. 505 |
| Maintaining World Model Consistency by Matching Parametrized Object Models to 3d Measurements | p. 515 |
| A Model of Manned Robotic Systems | p. 525 |
| Design, Construction and Performance of an Antrhopomorphic Robot Head | p. 535 |
| Multi-fingered Robot Hands | p. 543 |
| Multidirectional Pneumatic Force Sensor for Grippers | p. 551 |
| Grasping in an Unstructured Environment Using a Coordinated Hand Arm Control | p. 559 |
| Effective Integration of Sensors and Industrial Robots by Means of a Versatile Sensor Control Unit | p. 569 |
| Identification and Evaluation of Hydraulic Actuator Models for a Two-Link Robot Manipulator | p. 577 |
| A Modular Architecture for Controlling Autonomous Agents | p. 585 |
| Development of Intelligent Control for Robot Cells Using Knowledge Based Simulation | p. 595 |
| Recent Advances in Robot Grinding | p. 603 |
| A Low Cost Robot Based Integrated Manufacturing System for the Garment Industry | p. 611 |
| Vision for Robot Guidance in Automated Butchery | p. 619 |
| Use of Robots in Surgical Procedures | p. 627 |
| Author Index | p. 637 |
| Table of Contents provided by Blackwell. All Rights Reserved. |
