Open access peer-reviewed Edited Volume

Robot Manipulators

Edited by Marco Ceccarelli

University of Rome Tor Vergata, Italy

In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.

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Robot ManipulatorsEdited by Marco Ceccarelli

Published: September 1st 2008

DOI: 10.5772/87

ISBN: 978-953-7619-06-0

eBook (PDF) ISBN: 978-953-51-5735-9

Copyright year: 2008

Books open for chapter submissions

107736 Total Chapter Downloads

45 Crossref Citations

59 Web of Science Citations

71 Dimensions Citations


Open access peer-reviewed

1. Experimental Results on Variable Structure Control for an Uncertain Robot Model

By K. Bouyoucef1 K. Khorasani and M. Hamerlain


Open access peer-reviewed

2. Unit Quaternions: A Mathematical Tool for Modeling, Path Planning and Control of Robot Manipulators

By Ricardo Campa and Karla Camarillo


Open access peer-reviewed

3. Kinematic Design of Manipulators

By Marco Ceccarelli and Erika Ottaviano


Open access peer-reviewed

4. Gentle Robotic Handling Using Acceleration Compensation

By Suei Jen Chen


Open access peer-reviewed

5. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

By Frank Shaopeng Cheng


Open access peer-reviewed

6. Control of Robotic Systems Undergoing a Non-Contact to Contact Transition

By S. Bhasin, K. Dupree and W. E. Dixon


Open access peer-reviewed

7. Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control

By Vincent Duchaine, Samuel Bouchard and Clement Gosselin


Open access peer-reviewed

8. Experimental Control of Flexible Robot Manipulators

By A. Sanz and V. Etxebarria


Open access peer-reviewed

9. Improvement of Force Control in Robotic Manipulators Using Sensor Fusion Techniques

By J. Gamez, A. Robertsson, J. Gomez Ortega and R. Johansson


Open access peer-reviewed

10. Adaptive Neural Network Based Fuzzy Sliding Mode Control of Robot Manipulator

By Ayca Gokhan AK and Galip Cansever


Open access peer-reviewed

11. Impedance Control of Flexible Robot Manipulators

By Zhao-Hui Jiang


Open access peer-reviewed

12. Simple Effective Control for Robot Manipulators with Friction

By Maolin Jin, Sang Hoon Kang and Pyung Hun Chang


Open access peer-reviewed

13. On Transpose Jacobian Control for Monocular Fixed-Camera 3D Direct Visual Servoing

By Rafael Kelly, Ilse Cervantes, Jose Alvarez-Ramirez, Eusebio Bugarin and Carmen Monroy


Open access peer-reviewed

14. Novel Framework of Robot Force Control Using Reinforcement Learning

By Byungchan Kim and Shinsuk Park


Open access peer-reviewed

15. Link Mass Optimization Using Genetic Algorithms for Industrial Robot Manipulators

By Serdar Kucuk and Zafer Bingul


Open access peer-reviewed

16. FPGA-Realization of a Motion Control IC for Robot Manipulator

By Ying-Shieh Kung and Chia-Sheng Chen


Open access peer-reviewed

17. Experimental Identification of the Inverse Dynamic Model: Minimal Encoder Resolution Needed Application to an Industrial Robot Arm and a Haptic Interface

By Marcassus Nicolas, Alexandre Janot, Pierre-Olivier Vandanjon and Maxime Gautier


Open access peer-reviewed

18. Towards Simulation of Custom Industrial Robots

By Cosmin Marcu and Radu Robotin


Open access peer-reviewed

19. Design and Simulation of Robot Manipulators Using a Modular Hardware-in-the-loop Platform

By Adrian Martin and M. Reza Emami


Open access peer-reviewed

20. Soft-Computing Techniques for the Trajectory Planning of Multi-Robot Manipulator Systems

By Emmanuel A. Merchan-Cruz, Alan S. Morris and Javier Ramírez-Gordillo


Open access peer-reviewed

21. Robot Control Using On-Line Modification of Reference Trajectories

By Javier Moreno-Valenzuela


Open access peer-reviewed

22. Motion Behavior of Null Space in Redundant Robotic Manipulators

By Tsuyoshi Shibata and Toshiyuki Murakami


Open access peer-reviewed

23. Paddle Juggling by Robot Manipulator with Visual Servo

By Akira Nakashima, Yoshiyasu Sugiyama and Yoshikazu Hayakawa


Open access peer-reviewed

24. An Industrial Robot as Part of an Automatic System for Geometric Reverse Engineering

By Mohamed Rahayem


Open access peer-reviewed

25. Sensing Planning of Calibration Measurements for Intelligent Robots

By Mikko Sallinen and Tapio Heikkila


Open access peer-reviewed

26. Robot Programming in Machining Operations

By Bjorn Solvang, Gabor Sziebig and Peter Korondi


Open access peer-reviewed

27. Dynamic Visual Servoing with an Uncalibrated Eye-in-Hand Camera

By Hesheng Wang and Yun-Hui Liu


Open access peer-reviewed

28. Vision-Guided Robot Control for 3D Object Recognition and Manipulation

By S. Q. Xie, E. Haemmerle, Y. Cheng and P. Gamage


Edited Volume and chapters are indexed in

  • Worldcat
  • OpenAIRE
  • Google Scholar
  • AZ ebsco
  • Base
  • CNKI

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