Proceedings of the Third Conference on Mechatronics and Robotics, "From Design Methods to Industrial Applications"

InhaltsverzeichnisI. Introduction.Integrated Product Development — A New Approach to the Computer Aided Development in the Early Design Stages.Modular Concepts for the New Generation of DLR’s Light Weight Robots.Integrated Design of Shape and Function in Mechatronic Systems.II. Software Engineering in Mechatronics.Integrated Development Environment for Mechatronic Systems.Object-Oriented Behavioural Modelling of Mechatronic Systems.Analog Hardware Description Languages for Modeling and Simulation of Microsystems and Mechatronics.III. Drive Systems.Driving Characteristics of Robot Hand with Fingers using Langevin-Type Ultrasonic Motors.Experimental Identification of DC Electric Drives.Basics for the Energy-Efficient Control of Hydraulic Drives by Switching Techniques.Motion Control and Identification Techniques for Machine Tool Axes.IV. Robot Control.A Unified Framework for the Design of Interaction Control Schemes for Robot Manipulators.Robust Control of a Two-Arm Robot: an Efficient Implementation in a DSP-based Controller.Robot Path Control with a Decentral Structure.Design and Implementation of a Model-Based Nonlinear Controller for an Experimental Hydraulic Robot.V. Robot Applications.User-Oriented Automation of Flexible Sheet Bending.Smart Welder — A Mechatronic Application for Automated Shipbuilding.Autonomous Tool-Mover for Laser-Cutting with Industrial Robots.Interactive Robot Master Slave System for Deburring Large Cast Iron.VI. Mobile Robots.Remotely Operated Vehicle — A Mechatronic System.A Free Gait Algorithm for Improved Mobility Control of Walking Machines.Application of a Simulation with Hardware-in-the-Loop Environment in Automated Guided Vehicles.Wall-Climbing Robots for Inspection and Maintenance.VII. Modelling and Simulation.Modelling and Simulation of Discrete Electromechanical Systems.Software Environment for the Computer Modeling of Magnetomechanical Systems.Modeling and Simulation of a Flexible Shuttle-Robot.Optimization of the Dynamic Behavior of a Wire Bonder Using the Concept of Mechatronic Function Modules.VIII. Vehicles.Development of the Control of a Fully Automized Hybrid Drive.Mechatronic System Elements for Traction Control of Light Railway Vehicles.Mechatronic Object-Oriented Modelling and Control Strategies for Vehicle Convoy Driving.Mechatronic Steering of a Convoy Vehicle.IX. General Aspects in Mechatronics.Fuzzy-Neuro-GA Based Intelligent Control.Modeling and Control of Mechatronic Systems by Decentralized Descriptor Systems.Silicon Microsystems for Mechatronic Applications.X. Real-Time Processing.Transputer Software Tool for Robot Control Applications.Design and Application of a Distributed Simulation- and Runtime-Platform for Mechatronic Systems in the Field of Robot Control.MERKUR: A Real-Time and Fault-Tolerant Communication System for Mechatronic Applications.XI. Robots — General Aspects.Optimization of the Inertial and Acceleration Characteristics of Non-Redundant Manipulators.A Laser-Based 3D Correlation Procedure for the Execution of a Biomedical Task in Robotized Cell.Servodrive Equipped Linkages to Generate Exactly Defined Flexible and Adaptable Movements.Avoiding Singularity Problems of Manipulators with Redundant Kinematics by On-line Dynamic Trajectory Optimization.