Kinematic and Dynamic Issues in Sensor Based Control -

. .

Sommaire:
1. Modelling Techniques: General Kinematic and Dynamic Issues.- Sensory-based control: Robustness issues and modeling techniques - applications to proximity sensing.- The inverse function approach to sensor-driven kinematic control of redundant manipulators.- 2. Sensor Signal Processing.- Sensor data processing for flexible manufacturing processes.- Self-tuning algorithms in robot joint control and sensor signal processing.- A sensory data-driven rule-based strategy for error recovery in robotic assembly.- 3. Force Control.- Hybrid position force control implementation on a parallel manipulator.- Sensor based control of robot movement and force.- Force-feedback control of parallel kinematics manipulators.- 4. Further Control Topics.- Recent advances in experimental robot control.- On the optimal local path planning of robot manipulators.- Frequency domain analysis of robot joint dynamics.- 5. Vision Based Control.- Extracting dense motion information from an image sequence: Optic flow estimation and related segmentation issues.- Dynamic vision: Theoretical capabilities and practical problems.- Vision sensor integration for direct manipulator end-point control.- 6. Further Kinematic and Dynamic Issues.- Kinematics and dynamics in a hierarchically organized robot control system.- Sonar techniques for autonomous navigation with a mobile robot.- Pseudomuscular linear actuators: modelling and simulation experiences in the motion of articulated chains.- 7. Computational Issues.- A decentralized multiprocessor system for control of complex robotized systems.- Methodologies for multi-sensor system integration: building descriptions to make decisions.- 8. Learning from Sensor Input.- Redundant robotic manipulators I: Regularizing by mechanical impedance.- Redundant roboticmanipulators II: Learning dynamics via repeated trials.- Applications of sensor based control.- Multisensory assembly and error recovery.- Round-table discussions.- List of Speakers.- List of Other Attendees.