On-Line Trajectory Generation in Robotic Systems: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

Springer Tracts in Advanced Robotics

Volumn 58, Issue , 2010, Pages 1-230

  Kröger, Torsten ^a  

^a TECHNICAL UNIVERSITY OF BRAUNSCHWEIG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ANALOG SENSORS; ARBITRARY STATE; BASIC CONCEPTS; CONTINUOUS MOTIONS; CONTROL CYCLES; CONTROL LAYERS; CONTROL SPACES; CORE PART; DEGREES OF FREEDOM; INSTANTANEOUS REACTION; LINE TRAJECTORY; MECHANICAL SYSTEMS; MOBILE ROBOTIC; MOTION CONTROLLER; MOTION TRAJECTORIES; MULTIPLE DEGREES OF FREEDOM; OPEN LOOPS; PRACTICAL REALIZATIONS; REFERENCE FRAME; ROBOT MOTION CONTROL; ROBOTIC MANIPULATION; ROBOTIC SURGERY; ROBOTIC SYSTEMS; ROBOTICS SYSTEMS; SENSOR INTEGRATION; SENSOR-BASED CONTROL; SERVICE ROBOTICS; SUBMODULES; TIME-OPTIMAL; VISUAL SERVO CONTROL;

ALGORITHMS; CONTROL THEORY; CONTROLLERS; IDENTIFICATION (CONTROL SYSTEMS); MECHANICS; MOTION CONTROL; MOTION PLANNING; ROBOTICS; ROBOTS; SENSORS; TRAJECTORIES;

ROBOT PROGRAMMING;

EID: 77949831813     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-05175-3_1     Document Type: Conference Paper

References (283)

1. ABB AB Robotics Products, SE-721 68 Västerås, Sweden. Product Specification, Controller IRC5 with FlexPendant, RobotWare RW 5.11, 2008. 3HAC021785-001, Revision L.
2. ABB AB Robotics Products, SE-721 68 Västerås, Sweden. Product Specification, Controller Software IRC5, RobotWare 5.11, 2008. 3HAC022349-001, Revision J.
3. ABB AB Robotics Products, SE-721 68 Västerås, Sweden. Homepage. http://www.abb.com/robotics (accessed: Dec. 15, 2008). Internet, 2008.
4. ABB Automation Technologies AB Robotics, SE-721 68 Västerås, Sweden. Product Specification PickMaster, 2008. 3HAC 5842-10, Version 3.20.
5. K. Ahn, W. K. Chung, and Y. Yourn. Arbitrary states polynomial-like trajectory (ASPOT) generation. In Proc. of the 30th Annual Conference of IEEE Industrial Electronics Society, volume 1, pages 123-128, Busan, South Korea, November 2004.
6. A. Albu-Schäffer, C.Ott, and G. Hirzinger. A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. The International Journal of Robotics Research, 26(1):23-39, January 2007.
7. A. Albu-Schäffer and G. Hirzinger. Cartesian impedance control techniques for torque controlled light-weight robots. In Proc. of the IEEE International Conference on Robotics and Automation, volume 1, pages 657-663, Washington, D.C., USA, May 2002.
8. A. Albu-Schäffer, C. Ott, U. Frese, and G. Hirzinger. Cartesian impedance control of redundant robots: Recent results with the DLR-light-weight-arms. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 3704-3709, Taipei, Taiwan, September 2003.
9. T. Amemiya and T. Maeda. Asymmetric oscillation distorts the perceived heaviness of handheld objects. IEEE Trans. on Haptics, 1(1):9-18, January 2008.
10. C. H. An, C. G. Atkeson, and J. M. Hollerbach. Experimental determination of the effect of feedforward control on trajectory tracking errors. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 55-60, San Francisco, CA, USA, April 1986.
11. C. H. An, C. G. Atkeson, and J. M. Hollerbach. Model-Based Control of Robot Manipulator. MIT Press, 1988.
12. N. Anderson and Å. Björck. A new high order method of regula falsi type for computing a root of an equation. BIT Numerical Mathematics, 13(3):253-264, September 1973.
13. R. L. Andersson. A Robot Ping-Pong Player: Experiment in Real-Time Intelligent Control. MIT Press, Cambridge, MA, USA, March 1988.
14. R. L. Andersson. Aggressive trajectory generator for a robot ping-pong player. IEEE Control Systems Magazine, 9(2):15-21, February 1989.
15. ATI Industrial Automation, Inc., 1031 Goodworth Dr. Apex, NC, 27539, USA. Homepage. http://www.ati-ia.com (accessed: Dec. 15, 2008). Internet, 2008.
16. J. Baeten and J. De Schutter. Integrated Visual Servoing and Force Control, volume 8 of Springer Tracts in Advanced Robotics. Springer, 2004.
17. J. Barbic and D. L. James. Six-dof haptic rendering of contact between geometrically complex reduced deformable models. IEEE Trans. on Haptics, 1(1):39-52, January 2008.
18. Battenberg ROBOTIC GmbH & Co.KG, Zum Stempel 11, D-35043 Marburg, Germany. Homepage. http://www.battenberg.biz (accessed: Dec. 15, 2008). Internet, 2008.
19. B. Bäuml and G. Hirzinger. Agile robot development (aRD): A pragmatic approach to robotic software. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3741-3748, Beijing, China, October 2006.
20. S. A. Bazaz and B. Tondu. On-line computing of a robotic manipulator joint trajectory with velocity and acceleration constraints. In Proc. of the IEEE International Symposium on Assembly and Task Planning, pages 1-6, Marina del Rey, CA, USA, August 1997.
21. S. A. Bazaz and B. Tondu. Minimum time on-line joint trajectory generator based on low order spline method for industrial manipulators. Robotics and Autonomous Systems, 29(4):3-17, December 1999.
22. Bernecker + Rainer Industrie Elektronik Ges.m.b.H., B&R Straße 1, D-5142 Eggelsberg, Germany. Homepage. http://www.br-automation.com (accessed: Dec. 15, 2008). Internet, 2008.
23. Y. Bestaoui. On-line motion generation with velocity and acceleration constraints. Robotics and Autonomous Systems, 5(3):279-288, November 1989.
24. L. Biagiotti and C. Melchiorri. Trajectory Planning for Automatic Machines and Robots. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
25. L. Biagiotti and C. Melchiorri. Trajectory Planning for Automatic Machines and Robots, chapter 3, Composition of Elementary Trajectories, pages 59-150. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
26. C. G. L. Bianco and A. Piazzi. Minimum-time trajectory planning of mechanical manipulators under dynamic constraints. International Journal of Control, 75(13):967-980, 2002.
27. J. E. Bobrow. Optimal robot path planning using the minimum-time criterion. IEEE Trans. on Robotics and Automation, 4(4):443-450, August 1988.
28. J. E. Bobrow, S. Dubowsky, and J. S. Gibson. Time-optimal control of robotic manipulators along specified paths. The International Journal of Robotics Research, 4(3):3-17, Fall 1985.
29. M. Brady. Trajectory planning. InM. Brady, J. M. Hollerbach, T. L. Johnson, T. Lozano-Pérez, and M. T. Mason, editors, Robot Motion: Planning and Control, chapter 4, pages 221-243. MIT Press, 1982.
30. M. S. Branicky. Studies in Hybrid Systems: Modeling, Analysis, and Control. PhD thesis, Electrical Engineering and Computer Science Dept., Massachusetts Institute of Technology, http://dora.cwru.edu/msb/pubs.html (accessed: Dec. 15, 2008), 1995.
31. M. S. Branicky. Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Trans. on Automatic Control, 43(4):475-482, April 1998.
32. M. S. Branicky. Stability of hybrid systems: State of the art. In Proc. of the IEEE Conference on Decision and Control, volume 1, pages 120-125, San Diego, CA, USA, December 1999.
33. O. Brock. Generation of Robot Motion: The Integration of Planning and Execution. PhD thesis, Department of Computer Science, Stanford University, 1999.
34. O. Brock and L. E. Kavraki. Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces. In Proc. of the IEEE International Conference on Robotics and Automation, pages 1469-1474, Seoul, South Korea, May 2001.
35. O. Brock and O. Khatib. Elastic strips: A framework for motion generation in human environments. The International Journal of Robotics Research, 21(12):1031-1052, December 2002.
36. O. Brock, J. Kuffner, and J. Xiao. Manipulation for robot tasks. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 26, pages 615-645. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
37. B. Brogliato. Nonsmooth Mechanics. Communications and Control Engineering. Springer, London, UK, 1999.
38. X. Broqùere, D. Sidobre, and I. Herrera-Aguilar. Soft motion trajectory planner for service manipulator robot. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2808-2813, Nice, France, September 2008.
39. H. Bruyninckx. Kinematic Models for Robot Compliant Motion with Identification of Uncertainities. PhD thesis, KU Leuven, Department of Mechanical Engineering, 1995.
40. H. Bruyninckx and J. De Schutter. Specification of force-controlled actions in the task frame formalism - A synthesis. IEEE Trans. on Robotics and Automation, 12(4):581-589, August 1996.
41. B. Cao, G. I. Dodds, and G. W. Irwin. Time-optimal and smooth constrained path planning for robot manipulators. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 1853-1858, San Diego, CA, USA, May 1994.
42. B. Cao, G. I. Dodds, and G. W. Irwin. A practical approach to near time-optimal inspection-task-sequence planning for two cooperative industrial robot arms. The International Journal of Robotics Research, 17(8):858-867, August 1998.
43. R. H. Castain and R. P. Paul. An on-line dynamic trajectory generator. The International Journal of Robotics Research, 3(1):68-72, March 1984.
44. S. Chand and K. L. Doty. On-line polynomial trajectories for robot manipulators. The International Journal of Robotics Research, 4(2):38-48, Summer 1985.
45. F. Chaumentte and S. A. Hutchinson. Visual servo control. Part I: Basic approaches. IEEE Robotics and Automation Magazine, 4(13):82-90, December 2006.
46. F. Chaumentte and S. A. Hutchinson. Visual servo control. Part II: Advanced approaches. IEEE Robotics and Automation Magazine, 1(14):109-118, March 2007.
47. F. Chaumentte and S. A. Hutchinson. Visual servoing and visual tracking. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 24, pages 563-583. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
48. C.-Y. Chen, P.-S. Liao, C.-C. Cheng, and G.-F. Jong. Design and implementation of real-time nurbs interpolator for motion control. In Proc. of the second IEEE Conference Industrial Electronics and Applications, pages 426-431, Harbin, China, May 2007.
49. Y. Chen and A. A. Desrochers. Structure of minimum-time control law for robotic manipulators with constrained paths. In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 971-976, Scottsdale, AZ, USA, May 1989.
50. Y. Chen and A. A. Desrochers. A proof of the structure of the minimum-time control law of robotic manipulators using a hamiltonian formulation. IEEE Trans. on Robotics and Automation, 6(3):388-393, June 1990.
51. Y. Chen and A. A. Desrochers. Minimum-time control laws for robotic manipulators. International Journal of Control, 57(1):1-27, January 1993.
52. M.-Y. Cheng, M.-C. Tsai, and J.-C. Kuo. Real-time NURBS command generators for CNC servo controllers. International Journal of Machine Tools and Manufacture, 42(7):801-813, May 2002.
53. S. Chiaverini and L. Sciavicco. The parallel approach to force/position control of robotic manipulators. IEEE Trans. on Robotics and Automation, 9(4):361-373, August 1993.
54. H.-Y. Chuang and K.-H. Chien. A real-time NURBS motion interpolator for position control of a slide equilateral triangle parallel manipulator. The International Journal of Advanced Manufacturing Technology, 34(7):724-735, October 2007.
55. W. Chung, L.-C. Fu, and S.-H. Hsu. Motion control. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 6, pages 133-159. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
56. D. Chwa, J. Kang, and J. Y. Choi. Online trajectory planning of robot arms for interception of fast maneuvering object under torque and velocity constraints. IEEE Trans. on Systems, Man, and Cybernetics, Part A: Systems and Humans, 35(6):831-843, November 2005.
57. COMAU S.p.A. Robotics, Via Rivalta, 30, 10095, Grugliasco (Turin), Italy. C4G Instruction Handbook Motion Programming, System Software Rel. 3.1x, 2008. CR00757507 en-01/0208.
58. COMAU S.p.A. Robotics, Via Rivalta, 30, 10095, Grugliasco (Turin), Italy. C4G OPEN Instruction Handbook, System Software Rel. 3.1x, 2008. CR00757550 en-03/0908.
59. COMAU S.p.A. Robotics, Via Rivalta, 30, 10095, Grugliasco (Turin), Italy. C4G Open, the Industrial Robots Open Control System for Universities and SMEs (Product Brochure), 2008.
60. COMAU S.p.A. Robotics, Via Rivalta, 30, 10095, Grugliasco (Turin), Italy. Homepage. http://www.comau.com (accessed: Dec. 15, 2008). Internet, 2008.
61. D. Constantinescu and E. A. Croft. Smooth and time-optimal trajectory planning for industrial manipulators along specified paths. Journal of Robotic Systems, 17(5):233-249, May 2000.
62. J. J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall, third edition, 2003.
63. O. Dahl. Path-constrained robot control with limited torques-Experimental evaluation. IEEE Trans. on Robotics and Automation, 10(5):658-669, October 1994.
64. O. Dahl and L. Nielsen. Torque limited path following by on-line trajectory time scaling. In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 1122-1128, Scottsdale, AZ, USA, May 1989.
65. W. C. Davidon. Variable metric method for minimization. Argonne National Laboratory Research and Development Report 5990, May 1959. Republished in: SIAM Journal of Optimization, 1(1):1-17, Febuary 1991.
66. W. P. Dayawansa and C. F. Martin. A converse Lyapunov theorem for a class of dynamical systems which undergo switching. IEEE Trans. on Automatic Control, 44(4):751-760, April 1999.
67. R. A. DeCarlo, M. S. Branicky, S. Pettersson, and B. Lennartson. Perspectives and results on the stability and stabilizability of hybrid systems. Proc. of the IEEE, 88(7):1069-1082, July 2000.
68. R. Diestel. Graph Theory, volume 173 of Graduate Texts in Mathematics. Springer, Heidelberg, Germany, thrid edition, 2005.
69. J. Dong, P. M. Ferreira, and J. A. Stori. Feed-rate optimization with jerk constraints for generating minimum-time trajectories. International Journal of Machine Tools and Manufacture, 47(12-13):1941-1955, 2007.
70. M. Dowell and P. Jarratt. A modified regula falsi method for computing the root of an equation. BIT Numerical Mathematics, 11(2):168-174, June 1971.
71. M. Dowell and P. Jarratt. The "Pegasus" method for computing the root of an equation. BIT Numerical Mathematics, 12(4):503-508, December 1972.
72. J. Duffy. The fallacy of modern hybrid control theory that is based on"orthogonal complements" of twist and wrench spaces. Journal of Robotic Systems, 7(2):139-144, April 1990.
73. G. Engeln-Müllges and F. Uhlig. Numerical Algorithms with C. Springer, 1996.
74. EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, Germany. Homepage. http://www.ethercat.org (accessed: Dec. 15, 2008). Internet, 2008.
75. European Robotics Research Network (EURON). Hompepage. http://www.euron.org (accessed: Dec. 15, 2008). Internet, 2008.
76. FANUC Robotics Deutschland GmbH, Bernhäuser Straße 36, D-73765 Neuhausen a. d. F., Germany. FANUC Force Sensor FS-10iA data sheet, 2008.
77. FANUC Robotics Deutschland GmbH, Bernhäuser Straße 36, D-73765 Neuhausen a. d. F., Germany. FANUC iRVISION data sheet, 2008.
78. FANUC Robotics Deutschland GmbH, Bernhäuser Straße 36, D-73765 Neuhausen a. d. F., Germany. FANUC Roboterserie, R-30iA Mate Steuerung, Bedienungshandbuch, 2008. B-82724GE-1/01.
79. FANUC Robotics Deutschland GmbH, Bernhäuser Straße 36, D-73765 Neuhausen a. d. F., Germany. Homepage. http://www.fanuc.co.jp/en (accessed: Dec. 15, 2008). Internet, 2008.
80. G. Farmelo, editor. It Must Be Beautiful: Great Equations of Modern Science. Granta Publications, London, UK, 2002.
81. R. Featherstone. The calculation of robot dynamics using articulated-body inertias. The International Journal of Robotics Research, 2(1):13-30, 1983.
82. R. Featherstone. Rigid Body Dynamics Algorithms. Springer, New York, NY, USA, first edition, 2007.
83. R. Featherstone and D. E. Orin. Dynamics. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 2, pages 35-65. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
84. J. T. Feddema and O. R. Mitchell. Vision-guided servoing with feature-based trajectory generation. IEEE Trans. on Robotics and Automation, 5(5):691-700, 1989.
85. B. Finkemeyer. Robotersteuerungsarchitektur auf der Basis von Aktionsprimitiven (in German). Shaker Verlag, Aachen, Germany, 2004.
86. B. Finkemeyer, T. Kröger, D. Kubus, M. Olschewski, and F. M. Wahl. MiRPA: Middleware for robotic and process control applications. In Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware at the IEEE/RSJ International Conference on Intellegent Robots and Systems, pages 78-93, San Diego, CA, USA, October 2007.
87. B. Finkemeyer, T. Kröger, and F. M. Wahl. Placing of objects in unknown environments. In Proc. of the IEEE International Conference on Methods and Models in Automation and Robotics, pages 975-980, Miȩdzyzdroje, Poland, August 2003.
88. B. Finkemeyer, T. Kröger, and F. M. Wahl. Executing assembly tasks speci-fied by manipulation primitive nets. Advanced Robotics, 19(5):591-611, June 2005.
89. P. Fiorini and Z. Shiller. Time optimal trajectory planning in dynamic environments. In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 1553-1558, Minneapolis, MN, USA, April 1996.
90. T. Flash and E. Henis. Arm trajectory modifications during reaching towards visual targets. Journal of Cognitive Neuroscience, 3(3):220-230, Summer 1991.
91. T. Flash and N. Hogan. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience, 5:1688-1703, Summer 1985.
92. R. Fletcher and M. J. D. Powell. A rapidly convergent descent method for minimization. The Computer Journal, 6(2):163-168, Summer 1963.
93. D. A. Forsyth and J. Ponce. Computer Vision A Modern Approach. Pearson Education, 2003.
94. K. S. Fu, R. C. Gonzalez, and C. S. G. Lee. Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill, Singapore, second edition, 1988.
95. N. R. Gans. Hybrid Switched System Visual Servo Control. PhD thesis, Department of General Engineering, University of Illinois at Urbana-Champaign, 2005.
96. N. R. Gans and S. A. Hutchinson. A switching approach to visual servo control. In Proc. of the IEEE International Symposium on Intelligent Control, pages 770-776, Vancouver, Canada, October 2002.
97. N. R. Gans and S. A. Hutchinson. Stable visual servoing through hybrid switched-system control. IEEE Trans. on Robotics, 23(3):530-540, June 2007.
98. T. Gat-Falik and T. Flash. A technique for time-jerk optimal planning of robot trajectories. IEEE Trans. on Systems, Man, and Cybernetics, Part B: Cybernetics, 29(1):83-95, February 1999.
99. H. Geering, L. Guzzella, S. Hepner, and C. Onder. Time-optimal motions of robots in assembly tasks. IEEE Trans. on Automatic Control, 31(6):512-518, June 1986.
100. GNU Scientific Library. Hompepage. http://www.gnu.org/software/gsl (accessed: Dec. 15, 2008). Internet, 2008.
101. H. H. Gonzalez-Baños, D. Hsu, and J.-C. Latombe. Motion planning: Recent developments. In S. S. Ge and F. L. Lewis, editors, Autonomous Mobile Robots: Sensing, Control, Decision-Making, and Applications, chapter 10, pages 36-54. CRC Press, Boca Raton, 2006.
102. D. M. Gorinevsky, A. M. Formalsky, and A. Y. Schneider. Force Control of Robotics Systems. CRC Press, Boca Raton, FL, USA, 1997.
103. S. Haddadin, A. Albu-Schäffer, and G. Hirzinger. Safety evaluation of physical human-robot interaction via crash-testing. In Proc. of Robotics: Science and Systems, Atlanta, GA, USA, September 2007.
104. S. Haddadin, A. Albu-Schäffer, and G. Hirzinger. The role of the robot mass and velocity in physical human-robot interaction - part I: Non-constrained blunt impacts. In Proc. of the IEEE International Conference on Robotics and Automation, pages 1331-1338, Passadena, CA, USA, May 2008.
105. S. Haddadin, A. Albu-Schäffer, and G. Hirzinger. The role of the robot mass and velocity in physical human-robot interaction - part II: Constrained blunt impacts. In Proc. of the IEEE International Conference on Robotics and Automation, pages 1339-1345, Passadena, CA, USA, May 2008.
106. S. Haddadin, A. Albu-Schäffer, A. De Luca, and G. Hirzinger. Collision detection and reaction: A contribution to safe physical human-robot interaction. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3356-3363, Nice, France, September 2008.
107. Hasbro Inc., 1027 Newport Avenue, Mailstop A906, Pawtucket, RI 02861, USA. Jenga homepage. http://www.jenga.com (accessed: Dec. 15, 2008). Internet, 2008.
108. R. Haschke, E. Weitnauer, and H. Ritter. On-line planning of time-optimal, jerk-limited trajectories. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3248-3253, Nice, France, September 2008.
109. A. Heim and O. von Stryk. Trajectory optimization of industrial robots with application to computer-aided robotics and robot controllers. Optimization, 47:407-420, 2000.
110. E. A. Henis and T. Flash. Mechanisms underlying the generation of averaged modified trajectories. Biological Cybernetics, 72(5):407-419, April 1995.
111. Don Herbison-Evans. Finding real roots of quartics. Technical report, Sydney University of Technology, Department of Software Engineering, Sydney, Australia, 2005.
112. G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, and M. Schedl. DLR's torque-controlled light weight robot III - Are we reaching the technological limits now? In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 1710-1716, Washington, D.C., USA, May 2002.
113. N. Hogan. Impedance control: An approach to manipulation. Part I: Theory. Part II: Implementation. Part III: Applications. ASME Journal of Dynamic Systems, Measurment, and Control, 107:1-24, March 1985.
114. J. M. Hollerbach. Dynamic scaling of manipulator trajectories. ASME Journal on Dynamic Systems, Measurement, and Control, 106(1):102-106, 1984.
115. Institut für Robotik und Prozessinformatik at the Technische Universität Carolo-Wilhelmina zu Braunschweig, Mühlenpfordtstr. 23, D-38106 Braunschweig, Germany. Hompepage. http://www.rob.tu-bs.de/en (accessed: Dec. 15, 2008). Internet, 2008.
116. International Federation of Robotics (IFR). Hompepage. http://www.ifr.org (accessed: Dec. 15, 2008). Internet, 2008.
117. International Organisation for Standardisation. ISO 8373: Manipulating industrial robots - Vocabulary. International Standard, 1994.
118. L. Jaillet and T. Siméon. A PRM-based motion planner for dynamically changing environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 2, pages 1606-1611, Sendai, Japan, September 2004.
119. JR3, Inc., 22 Harter Ave, Woodland, CA 95776, USA. Homepage. http://www.jr3.com (accessed: Dec. 15, 2008). Internet, 2008.
120. M. E. Kahn and B. Roth. The near-minimum-time control of open-loop articulated kinematic chains. ASME Journal of Dynamic Systems, Measurement, and Control, 93:164-172, September 1971.
121. C.-G. Kang. Online trajectory planning for a PUMA robot. International Journal of Precision Engineering and Manufacturing, 8(4):51-56, October 2007.
122. L. E. Kavraki and S. M. LaValle. Motion planning. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 5, pages 109-131. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
123. Kawasaki Heavy Industries, Ltd., World Trade Center Bldg., 4-1, Hamamatsu-cho 2-chome, Minato-ku, Tokyo 105-6116, Japan. Homepage. http://www.khi.co.jp/index-e.html (accessed: Dec. 15, 2008). Internet, 2008.
124. Kawasaki Robotics GmbH, Sperberweg 29, D-41468 Neuss, Germany. Kawasaki Robot Controller der Serie D, Bedienungshandbuch (in German), 2002. 90209-1017DGB.
125. Kawasaki Robotics GmbH, Sperberweg 29, D-41468 Neuss, Germany. Kawasaki Robot Controller Serie D, Referenzhandbuch AS-Sprache (in German), 2002. 90209-1083DGE.
126. W. Khalil and E. Dombre. Modeling, Identification and Control of Robots, chapter 13, Trajectory Generation, pages 313-345. Hermes Penton, Ltd., London, UK, first edition, 2002.
127. W. Khalil and E. Dombre. Modeling, Identification and Control of Robots, chapter 14, Motion Control, pages 347-376. Hermes Penton, Ltd., London, UK, first edition, 2002.
128. W. Khalil and E. Dombre. Modeling, Identification and Control of Robots. Hermes Penton, Ltd., London, UK, 2002.
129. O. Khatib. A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation, RA-3(1):43-53, February 1987.
130. J.-Y. Kim, D.-H. Kim, and S.-R. Kim. On-line minimum-time trajectory planning for industrial manipulators. In Proc. of the International Conference on Control, Automation, and Systems, pages 36-40, Seoul, South Korea, October 2007.
131. R. King. An improved pegasus method for root finding. BIT Numerical Mathematics, 13(4):423-427, December 1973.
132. B. Koninckx and H. van Brussel. Real-time NURBS interpolator for distributed motion control. CIRP Annals.
133. Y. Koren. Control of machine tools. Journal of Manufacturing Science and Engineering, 119(4B):749-755, November 1997.
134. A. I. Kostrikin, Y. I. Manin, and M. E. Alferieff. Linear Algebra and Geometry, chapter 3, Projective Groups and Projections. Taylor and Francis, Ltd., first edition, 1997.
135. K. Kozłowski. Modelling and Identification in Robotics. Springer, London, UK, 1998.
136. T. Kröger, B. Finkemeyer, M. Heuck, and F. M. Wahl. Adaptive implicit hybrid force/pose control of industrial manipulators: Compliant motion experiments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 816-821, Sendai, Japan, September 2004.
137. T. Kröger, B. Finkemeyer, U. Thomas, and F. M. Wahl. Compliant motion programming: The task frame formalism revisited. In Mechatronics and Robotics, pages 1029-1034, Aachen, Germany, September 2004.
138. T. Kröger, B. Finkemeyer, and F. M. Wahl. Manipulation primitives as interface between task programming and execution. In Workshop on Issues and Approaches to Task Level Control at the IEEE/RSJ International Conference on Intellegent Robots and Systems, Sendai, Japan, September 2004.
139. T. Kröger, B. Finkemeyer, and F. M. Wahl. A task frame formalism for practical implementations. In Proc. of the IEEE International Conference on Robotics and Automation, pages 5218-5223, New Orleans, LA, USA, April 2004.
140. T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl. Demonstration of multi-sensor integration in industrial manipulation (poster). In Proc. of the IEEE International Conference on Robotics and Automation, pages 4282-4284, Orlando, FL, USA, May 2006.
141. T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl. Demonstration of multi-sensor integration in industrial manipulation (video). In Proc. of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, May 2006.
142. T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl. A manipulator plays Jenga. IEEE Robotics and Automation Magazine, 15(3):79-84, September 2008.
143. T. Kröger, D. Kubus, and F. M. Wahl. 6D force and acceleration sensor fusion for compliant manipulation control. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2626-2631, Beijing, China, October 2006.
144. T. Kröger, D. Kubus, and F.M.Wahl. Force and acceleration sensor fusion for compliant manipulation control in six degrees of freedom. Advanced Robotics, 21(14):1603-1616, November 2007.
145. T. Kröger, D. Kubus, and F. M. Wahl. 12d force and acceleration sensing: A helpful experience report on sensor characteristics. In Proc. of the IEEE International Conference on Robotics and Automation, pages 3455-3462, Pasadena, CA, USA, May 2008.
146. T. Kröger, A. Tomiczek, and F. M. Wahl. Towards on-line trajectory computation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 736-741, Beijing, China, October 2006.
147. D. Kubus, T. Kröger, and F. M. Wahl. On-line rigid object recognition and pose estimation based on inertial parameters. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1402-1408, San Diego, CA, USA, October 2007.
148. D. Kubus, T. Kröger, and F. M. Wahl. Improving force control performance by computational elimination of non-contact forces/torques. In Proc. of the IEEE International Conference on Robotics and Automation, pages 2617-2622, Pasadena, CA, USA, May 2008.
149. A. Kugi, C. Ott A. Albu-Schäffer, and G. Hirzinger. On the passivitybased impedance control of flexible joint robots. IEEE Trans. on Robotics, 24(2):416-429, April 2008.
150. KUKA Roboter GmbH, Zugspitzstraße 140, D-86165 Augsburg, Germany. KUKA.Occubot VI V2.0 für KUKA System Software (KSS) V5.2 (in German), 2006. V0.1 24.01.2006 KST-AD-Occubot20 de.
151. KUKA Roboter GmbH, Zugspitzstraße 140, D-86165 Augsburg, Germany. KUKA System Software 5.2, 5.3, 5.4, Bedien- und Programmieranleitung für Systemintegratoren (in German), 2007. V1.1 05.07.2007 KSS-AD-SI-5x de.
152. KUKA Roboter GmbH, Zugspitzstraße 140, D-86165 Augsburg, Germany. KUKA KRC2 Brochure: Control and software, 2008. WM-Nr. 841706/E/8/05.04.
153. KUKA Roboter GmbH, Zugspitzstraße 140, D-86165 Augsburg, Germany. Homepage. http://www.kuka.com/en/company/group (accessed: Dec. 15, 2008). Internet, 2008.
154. K. J. Kyriakopoulos and G. N. Sridis. Minimum jerk path generation. In Proc. of the IEEE International Conference on Robotics and Automation, volume 1, pages 364-369, Philadelphia, PA, USA, April 1988.
155. P. Lambrechts, M. Boerlage, and M. Steinbuch. Trajectory planning and feedforward design for high performance motion systems. In Proc. of the American Control Conference, volume 5, pages 4637-4642, Boston, MA, USA, June 2004.
156. S. M. LaValle. Planning Algorithms. Cambridge University Press, Cambridge, UK, 2006.
157. W. T. Lei, M. P. Sung, L. Y. Lin, and J. J. Huang. Fast real-time NURBS for CNC machine tools. International Journal of Machine Tools and Manufacture, 47(10):1530-1541, 2007.
158. Lenze AG, Hans-Lenze-Straße 1, D-31855 Aerzen, Germany. Software manual, L-force Servo Drives 9400 StateLine, E94AxSExxxx, parameter setting, 2008. DMS 3.0 EN - 07/2008.
159. Lenze AG, Hans-Lenze-Straße 1, D-31855 Aerzen, Germany. Homepage. http://www.lenze.com (accessed: Dec. 15, 2008). Internet, 2008.
160. W. Leonhard. Control of Electrical Drives. Springer, third edition, 2001.
161. T. Y. Li and J.-C. Latombe. On-line manipulation planning for two robot arms in a dynamic environment. In Proc. of the IEEE International Conference on Robotics and Automation, volume 1, pages 1048-1055, Nagoya, Japan, May 1995.
162. T. Y. Li and J.-C. Latombe. On-line manipulation planning for two robot arms in a dynamic environment. The International Journal of Robotics Research, 16(2):144-167, April 1997.
163. D. Liberzon. Switching in Systems and Control. Systems and Control: Foundations and Applications. Birkhäuser, Boston, MA, USA, 2003.
164. D. Liberzon and A. S. Morse. Basic problems in stability and design of switched systems. IEEE Control Systems Magazine, 19(5):59-70, October 1999.
165. C.-S. Lin, P.-R. Chang, and J. Y. S. Luh. Formulation and optimization of cubic polynomial joint trajectories for industrial robots. IEEE Trans. on Automatic Control, 28(12):1066-1074, December 1983.
166. S. Lindemann and S. LaValle. Current issues in sampling-based motion planning. In P. Dario and R. Chatila, editors, Proc. of the Eighth Int. Symp. on Robotics Research, pages 36-54. Springer, Berlin, Germany, 2004.
167. S. Liu. An on-line reference-trajectory generator for smooth motion of impulse-controlled industrial manipulators. In Proc. of the seventh International Workshop on Advanced Motion Control, pages 365-370, Maribor, Slovenia, July 2002.
168. J. Lloyd and V. Hayward. Trajectory generation for sensor-driven and timevarying tasks. The International Journal of Robotics Research, 12(4):380-393, August 1993.
169. T. Lozano-Pérez. Automatic planning of manipulator transfer movements. In M. Brady, J. M. Hollerbach, T. L. Johnson, T. Lozano-Pérez, and M. T. Mason, editors, Robot Motion: Planning and Control, chapter 6, pages 499-535. MIT Press, 1982.
170. A. De Luca, A. Albu-Schäffer, S. Haddadin, and G. Hirzinger. Collision detection and safe reaction with the DLR-III lightweight manipulator arm. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1623-1630, Beijing, China, October 2006.
171. Y. Ma, S. Soatto, J. Košecká, and S. S. Sastry. An Invitation to 3-D Vision. Springer, New York, NY, USA, 2003.
172. J. Maaß, S. Molkenstruck, U. Thomas, J. Hesselbach, F. M. Wahl, and A. Raatz. Definition and execution of a generic assembly programming paradigm. Assembly Automation, 28(1):61-68, 2008.
173. J. Maaß, J. Steiner, A. Raatz, J. Hesselbach, U. Goltz, and A. Amado. Selfmanagement in a control architecture for parallel kinematic robots. In Proc. of the 27th ASME Computers and Information in Engineering Conference, New York, NY, USA, August 2008.
174. S. Macfarlane and E. A. Croft. Jerk-bounded manipulator trajectory planning: Design for real-time applications. IEEE Trans. on Robotics and Automation, 19(1):42-52, February 2003.
175. manutec VaWe Robotersystem GmbH, Benno-Strauß-Straße 5, D-90763 Fürth, Germany. Homepage. http://www.manutec.de (accessed: Dec. 15, 2008). Internet, 2008.
176. M. T. Mason. Compliance and force control for computer controlled manipulators. IEEE Trans. on Systems, Man, and Cybernetics, 11:418-432, June 1981.
177. J. B. Mbede, L. Zhang, S. Ma, Y. Toure, and V. Graefe. Robust neurofuzzy manipulator among navigation of mobile dynamic obstacles. In Proc. of the IEEE International Conference on Robotics and Automation, pages 5051-5057, New Orleans, LA, USA, April 2004.
178. J. M. McCarthy and J. E. Bobrow. The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system. IEEE Trans. on Robotics and Automation, 8(3):407-409, June 1992.
179. N. H. McClamroch and I. Kolmanobsky. Performance benefits of hybrid control design for linear and nonlinear systems. Proc. of the IEEE, 88(7):1083-1096, July 2000.
180. E. A. Merchán-Cruz and A. S. Morris. Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace. IEEE Trans. on Robotics and Automation, 22(4):613-624, August 2006.
181. G. Michaletzky and L. Gerencsér. BIBO stability of linear switching systems. IEEE Trans. on Automatic Control, 47(11):1895-1898, November 2002.
182. G. Milighetti and H.-B. Kuntze. On a primitive skill-based supervisory robot control architecture. In Proc. of the IEEE International Conference on Advanced Robotics, pages 141-147, Seattle, WA, USA, July 2005.
183. G. Milighetti and H.-B. Kuntze. On the discrete-continuous control of basic skills for humanoid robots. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3474-3479, Beijing, China, October 2006.
184. G. Milighetti and H.-B. Kuntze. Fuzzy based decision making for the discretecontinuous control of humanoid robots. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3580-3585, San Diego, CA, USA, October 2007.
185. Mitsubishi Heavy Industries Industrial Machinery Co., Ltd., 1-Takamichi, Iwatsuka-cho, Nakamura-ku, Nagoya, Japan. Homepage. http://robot.sanki-mhi.com/ English (accessed: Dec. 15, 2008). Internet, 2008.
186. Mitsubishi Heavy Industries, Ltd., Mitsubishijuko Yokohama Bldg., 3-1, Minatomirai 3-chome, Nishi-ku, Yokohama, 220-8401, Japan. Homepage. http://www.mhi.co.jp/en (accessed: Dec. 15, 2008). Internet, 2008.
187. H. Mosemann. Beiträge zur Planung, Dekomposition und Ausführung von automatisch generierten Roboteraufgaben (in German). Shaker Verlag, Aachen, Germany, 2000.
188. H. Mosemann and F. M. Wahl. Automatic decomposition of planned assembly sequences into skill primitives. IEEE Trans. on Robotics and Automation, 17(5):709-718, October 2001.
189. MOTOMAN, Inc., 805 Liberty Lane, West Carrollton, Ohio 45449, USA. Homepage. http://www.motoman.com (accessed: Dec. 15, 2008). Internet, 2008.
190. MOTOMAN robotec GmbH, Kammerfeldstraße 1, D-85391 Allershausen, Germany. System-Setup MOTOMAN NX100, Betriebsanleitung, 2004. MRS6101GB.0.U.
191. MOTOMAN robotec GmbH, Kammerfeldstraße 1, D-85391 Allershausen, Germany. Betriebsanleitung Grundprogrammierung, 2008. MRS60000.
192. Neuronics AG, Technoparkstrasse 1, CH-8005 Zürich, Switzerland. Data sheet Kantana-Automation made easy, 2008.
193. Neuronics AG, Technoparkstrasse 1, CH-8005 Zürich, Switzerland. Katana-NativeInterface Reference Manual, Version 3.9.x, 2008.
194. Neuronics AG, Technoparkstrasse 1, CH-8005 Zürich, Switzerland. Homepage. http://www.neuronics.ch (accessed: Dec. 15, 2008). Internet, 2008.
195. P. Ögren, M. Egerstedt, and X. Hu. Reactive mobile manipulation using dynamic trajectory tracking. In Proc. of the IEEE International Conference on Robotics and Automation, pages 3473-3478, San Francisco, CA, USA, April 2000.
196. J. Olomski. Bahnplanung und Bahnführung von Industrierobotern (in German). Vieweg Verlag, Braunschweig, Germany, 1989.
197. OROCOS Homepage. Open robot control software. http://www.orocos.org (accessed: Dec. 15, 2008). Internet, 2002.
198. R. Osypiuk, T. Kröger, B. Finkemeyer, and F. M. Wahl. A two-loop implicit force/position control structure, based on a simple linear model: Theory and experiment. In Proc. of the IEEE International Conference on Robotics and Automation, pages 2232-2237, Orlando, FL, USA, May 2006.
199. W. S. Owen, E. A. Croft, and B. Benhabib. Minimally compliant trajectory resolution for robotic machining. In Proc. of the IEEE International Conference on Advanced Robotics, pages 702-707, Coimbra, Portugal, June 2003.
200. W. S. Owen, E. A. Croft, and B. Benhabib. Real-time trajectory resolution for dual robot machining. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4332-4337, Sendai, Japan, September 2004.
201. F. C. Park, J. E. Bobrow, and S. R. Ploen. A lie group formulation of robot dynamics. The International Journal of Robotics Research, 14(6):609-618, December 1995.
202. F. C. Park and B. Ravani. Smooth invariant interpolation of rotations. ACM Transactions on Graphics,, 16(3):277-295, July 1997.
203. R. P. C. Paul. Manipulator Cartesian path control. In M. Brady, J. M. Hollerbach, T. L. Johnson, T. Lozano-Pérez, and M. T. Mason, editors, Robot Motion: Planning and Control, chapter 4, pages 245-263. MIT Press, 1982.
204. R. P. C. Paul. Robot Manipulators. MIT Press, fifth edition, 1983.
205. R. P. C. Paul. Robot Manipulators, chapter 5, Motion Trajectories, pages 119-155. MIT Press, fifth edition, 1983.
206. R. P. C. Paul. Robot Manipulators, chapter 7, Control, pages 197-215. MIT Press, fifth edition, 1983.
207. F. Pertin and J.-M. Bonnet des Tuves. Real time robot controller abstraction layer. In Proc. of the Int. Symposium on Robots, Paris, France, March 2004.
208. F. Pfeiffer and R. Johanni. A concept for manipulator trajectory planning. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 1399-1405, San Francisco, CA, USA, April 1986.
209. A. Piazzi and A. Visioli. Global minimum-time trajectory planning of mechanical manipulators using interval analysis. International Journal of Control, 71(4):631-652, 1998.
210. A. Piazzi and A. Visioli. Global minimum-jerk trajectory planning of robot manipulators. IEEE Trans. on Industrial Electronics, 47(1):140-149, February 2000.
211. L. Piegel. On NURBS: A survey. IEEE Computer Graphics and Applications, 11(1):55-71, January 1991.
212. L. Piegel and W. Tiller. The NURBS Book. Springer, Heidelberg, Germany, second edition, 1997.
213. F. Pierrot, P. Dauchez, and A. Fournier. HEXA: A fast six-DOF fully-parallel robot. In Proc. of the IEEE International Conference on Advanced Robotics, volume 2, pages 1158-1163, Pisa, Italy, June 1991.
214. I. Pietsch. Adaptive Steuerung und Regelung ebener Parallelroboter (in German). Vulkan Verlag, Essen, Germany, 2003.
215. W. H. Press, S. A. Teukolski,W. T. Vetterling, and B. P. Flannery. Numerical Receipes in C++. Cambridge University Press, 2002.
216. QNX Software Systems, 175 Terence Matthews Crescent, Ottawa, Ontario, Canada, K2M 1W8. Homepage. http://www.qnx.com (accessed: Dec. 15, 2008). Internet, 2008.
217. M. H. Raibert and J. J. Craig. Hybrid position/force control of manipulators. ASME Journal of Dynamic Systems, Measurement and Control, 102:126-133, June 1981.
218. V. T. Rajan. Minimum time trajectory planning. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 759-764, St. Louis, MO, USA, March 1985.
219. Real-Time Innovations, 385 Moffett Park Drive, Sunnyvale, CA 94089, USA. Homepage. http://www.rti.com (accessed: Dec. 15, 2008). Internet, 2008.
220. T. Reisinger. Kontaktregelung von Parallelrobotern auf der Basis von Aktionsprimitiven (Interaction Control of Parallel Robots Based on Skill Primitives). PhD thesis, Institut für Regelungstechnik, Technische Universität Carolo-Wilhelmina zu Braunschweig, http://www.digibib.tu-bs.de/ ?docid=00022368 (accessed: Dec. 15, 2008), 2008.
221. Rockwell Automation, Inc., Allen-Bradley and Rockwell Software Brands, 1201 South Second Street, Milwaukee, WI 53204-2496, USA. Homepage. http://www.rockwellautomation.com (accessed: Dec. 15, 2008). Internet, 2008.
222. V. Rogozin, Y. Edan, and T. Flash. A real-time trajectory modification algorithm. Robotica, 19(4):395-405, July 2001.
223. G. Sahar and J. M. Hollerbach. Planning of minimum-time trajectories for robot arms. In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 751-758, St. Louis, MO, USA, March 1985.
224. M. Schlemmer and G. Gruebel. Real-time collision-free trajectory optimization of robot manipulators via semi-infinite parameter optimization. The International Journal of Robotics Research, 17(9):1013-1021, September 1998.
225. D. C. Schmidt, D. L. Levine, and S. Mungee. The design of the TAO realtime object request broker. Computer Communications, 21(4):294-324, April 1998.
226. J. De Schutter, T. De Laet, J. Rutgeerts, W. Decré, R. Smits, E. Aertbeliën, K. Claes, and H. Bruyninckx. Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. The International Journal of Robotics Research, 26(5):433-454, May 2007.
227. J. De Schutter and J. van Brussel. Compliant robot motion I. A formalism for specifying compliant motion tasks. The International Journal of Robotics Research, 7(5):3-17, August 1988.
228. J. De Schutter and J. van Brussel. Compliant robot motion II. A control approach based on external control loops. The International Journal of Robotics Research, 7(4):18-33, August 1988.
229. L. Sciavicco and B. Siciliano. Modelling and Control of Robot Manipulators. Advanced Textbooks in Control and Signal Processing. Springer, second edition, 2000.
230. A. I. Selverston, M. I. Rabinovich, R. Huerta, T. Novotny, R. Levi, Y. Axshavsky, A. Volkovskii, J. Ayers, and R. Pinto. Biomimetic central pattern generators for robotics and prosthetics. In Proc. of the IEEE International Conference on Robotics and Biomimetics, pages 885-888, Chenyang, China, August 2004.
231. SERCOS International e.V., Küblerstrasse 1, D-73079 Süssen, Germany. Homepage. http://www.sercos.de (accessed: Dec. 15, 2008). Internet, 2008.
232. L. E. Sergio, C. Hamel-Pâquet, and J. F. Kalaska. Motor cortex neural correlates of output kinematics and kinetics during isometric-force and armreaching tasks. Journal of Neurophysiology, 94:2353-2378, May 2005.
233. SEW-EURODRIVE GmbH & Co KG, Ernst-Blickle-Straße 42, D-76646 Bruchsal, Germany. Homepage. http://www.sew-eurodrive.com (accessed: Dec. 15, 2008). Internet, 2008.
234. Z. Shiller. Time-energy optimal control of articulated systems with geometric path constraints. In Proc. of the IEEE International Conference on Robotics and Automation, volume 4, pages 2680-2685, San Diego, CA, USA, May 1994.
235. Z. Shiller and S. Dubowski. Time optimal paths and acceleration lines of robotic manipulators. In Proc. of the IEEE Conference on Decision and Control, volume 26, pages 199-204, Los Angeles, CA, USA, December 1987.
236. Z. Shiller and H.-H. Lu. Robust computation of path constrained time optimal motions. In Proc. of the IEEE International Conference on Robotics and Automation, volume 1, pages 144-149, Cincinnati, OH, USA, May 1990.
237. Z. Shiller and H.-H. Lu. Computation of path constrained time optimal motions with dynamic singularities. ASME Journal of Dynamic Systems, Measurement, and Control, 114(1):34-40, March 1992.
238. K. G. Shin and N. D. McKay. Minimum-time control of robotic manipulators with geometric path constraints. IEEE Trans. on Automatic Control, 30(5):531-541, June 1985.
239. K. G. Shin and N. D. McKay. A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Trans. on Automatic Control, 31(6):491-500, June 1986.
240. B. Siciliano and O. Khatib. Springer Handbook of Robotics. Springer, first edition, 2008.
241. B. Siciliano and L. Villani. Robot Force Control. Kluwer Academic Publishers, 1999.
242. Siemens AG, Wittelsbacherplatz 2, D-80333 Munich, Germany. Homepage. http://www.automation.siemens.com (accessed: Dec. 15, 2008). Internet, 2008.
243. D. Simon and C. Isik. A trigonometric trajectory generator for robotic arms. International Journal of Control, 57(3):505-517, March 1993.
244. J.-J. E. Slotine and H. S. Yang. Improving the efficiency of time-optimal pathfollowing algorithms. IEEE Trans. on Robotics and Automation, 5(1):118-124, February 1989.
245. A. J. Sommese and C. W. Wampler. The Numerical Solution of Systems of Polynomials. World Scientific, Singapore, first edition, 2005.
246. M. W. Spong, S. A. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. John Wiley and Sons, 2006.
247. Stäubli Faverges SCA, Place Robert Stäubli BP 70, 74210 Faverges (Annecy), France. Documentation CS8 Low Level Interface (LLI) s5.3.2, 2006. Version D24276405A.
248. Stäubli Faverges SCA, Place Robert Stäubli BP 70, 74210 Faverges (Annecy), France. Instruction Manual CS8C Controller, 2008. D28062904A-01/2006.
249. Stäubli Faverges SCA, Place Robert Stäubli BP 70, 74210 Faverges (Annecy), France. VAL3 Reference Manual Version 5.3, 2008. D28062804A-02/2006.
250. Stäubli Faverges SCA, Place Robert Stäubli BP 70, 74210 Faverges (Annecy), France. Homepage. http://www.staubli.com/en/robotics (accessed: Dec. 15, 2008). Internet, 2008.
251. J. Stoer and R. Bulrisch. Introduction to Numerical Analysis. Springer, New York, NY, USA, 2002.
252. O. von Stryk and M. Schlemmer. Optimal control of the industrial robot manutec r3. In R. Burlish and D. Kraft, editors, Computational Optimal Control, International Series of Numerical Mathematics, volume 115, pages 367-382, Basel, 1994. Birkhäuser.
253. S.-H. Suh, S.-K. Kang, D.-H. Chung, and I. Stroud. Theory and Design of CNC Systems. Springer Series in Advanced Manufacturing. Springer, London, UK, 2008.
254. K. Takayama and H. Kano. A new approach to synthesizing free motions of robotic manipulators based on a concept of unit motions. In Proc. of the IEEE/RSJ International Conference on Intellegent Robots and Systems, International Workshop on Intelligence for Mechanical Systems, volume 3, pages 1406-1411, Osaka, Japan, November 1991.
255. H. H. Tan and R. B. Potts. Minimum time trajectory planner for the discrete dynamic robotmodel with dynamic constraints. IEEE Trans. on Robotics and Automation, 4(2):174-184, April 1988.
256. R. H. Taylor. Planning and execution of straight-line manipulator trajectories. In M. Brady, J. M. Hollerbach, T. L. Johnson, T. Lozano-Pérez, and M. T. Mason, editors, Robot Motion: Planning and Control, chapter 4, pages 265-286. MIT Press, 1982.
257. The Numerical Algorithms Group, Ltd., Wilkinson House Jordan Hill Road, Oxford, OX2 8DR, UK. Hompepage. http://www.nag.co.uk (accessed: Dec. 15, 2008). Internet, 2008.
258. The University of Chicago. The Chicago Manual of Style. The University of Chicago Press, Chicago, IL, USA, 15th edition, 2003.
259. U. Thomas. Automatisierte Programmierung von Robotern für Montageaufgaben (in German). Shaker Verlag, Aachen, Germany, 2008.
260. U. Thomas, B. Finkemeyer, T. Kröger, and F. M. Wahl. Error-tolerant execution of complex robot tasks based on skill primitives. In Proc. of the IEEE International Conference on Robotics and Automation, volume 3, pages 3069-3075, Taipei, Taiwan, September 2003.
261. U. Thomas, F. M. Wahl, J. Maaß, and J. Hesselbach. Towards a new concept of robot programming in high speed assembly applications. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3827-3833, Edmonton, Canada, August 2005.
262. G. J. Tortora and B. Derrickson. Principles of Anatomy and Physiology, chapter 13, pages 439-472. John Wiley and Sons, eleventh edition, 2006.
263. G. J. Tortora and B. Derrickson. Principles of Anatomy and Physiology. John Wiley and Sons, eleventh edition, 2006.
264. J. F. Traub. Iterative Methods for the Solution of Equations, chapter 1.2 and appendix C. Prentice-Hall, Englewood Cliffs, NJ, USA, first edition, 1964.
265. I. R. van Aken and H. van Brussel. On-line robot trajectory control in joint coordinates by means of imposed acceleration profiles. Robotica, 6(3):185-195, 1988.
266. J. Vannoy and J. Xiao. Real-time adaptive motion planning (RAMP) of mobile manipulators in dynamic environments with unforeseen changes. IEEE Trans. on Robotics, 24(5):1199-1212, October 2008.
267. L. Villani, , and J. De Schutter. Force control. In B. Siciliano and O. Khatib, editors, Springer Handbook of Robotics, chapter 7, pages 161-185. Springer, Berlin, Heidelberg, Germany, first edition, 2008.
268. M. Vukobratović and D. Šurdilovic. Control of robotic systems in contact tasks: An overview. In Proc. of the IEEE International Conference on Robotics and Automation, pages 13-32, Atlanta, GA, USA, May 1993.
269. M. Žefran, V. Kumar, and C. B. Croke. On the generation of smooth threedimensional rigid body motions. IEEE Trans. on Robotics and Automation, 14(4):576-589, August 1998.
270. L. Žlajpah. On time optimal path control of manipulators with bounded joint velocities and torques. In Proc. of the IEEE International Conference on Robotics and Automation, volume 2, pages 1572-1577, Minneapolis, MN, USA, April 1996.
271. F. M. Wahl. Digital Image Signal Processing. Artech House, Boston, MA, USA, first edition, 1987.
272. W. Wang, S. S. Chan, D. A. Heldman, and D. W. Moran. Motor cortical representation of position and velocity during reaching. Journal of Neurophysiology, 97:4258-4270, March 2007.
273. L. E. Weiss, A. C. Sanderson, and C.P. Neuman. Dynamic sensor-based control of robots with visual feedback. IEEE Journal of Robotics and Automation, 3(5):404-417, 1987.
274. D. E. Whitney. Resolved motion rate control of manipulators and human prostheses. IEEE Trans. on Man Machine Systems, 10(2):47-53, June 1969.
275. D. E. Whitney. Force feedback control of manipulator fine motion. ASME Journal of Dynamic Systems, Measurment and Control, 98:91-97, 1977.
276. D. E. Whitney and J. L. Nevins. What is the remote center compliance (RCC) and what can it do? In Proc. of the ninth International Symposium on Industrial Robots, pages 135-152, Washington, D.C., USA, March 1979.
277. M. A. Wicks, P. Peleties, and R. A. DeCarlo. Construction of piecewise Lyapunov functions for stabilizing switched systems. In Proc. of the IEEE Conference on Decision and Control, volume 4, pages 3492-3497, Lake Buena Vista, FL, USA, December 1994.
278. C. C. De Wit, B. Siciliano, and G. Bastin. Theory of Robot Control. Springer, 1996.
279. X. Xu and G. Zhai. Practical stability and stabilization of hybrid and switched systems. IEEE Trans. on Automatic Control, 50(11):1897-1903, November 2005.
280. Y. Yang and O. Brock. Elastic roadmaps: Globally task-consistent motion for autonomous mobile manipulation in dynamic environments. In Proc. of Robotics: Science and Systems, Philadelphia, PA, USA, August 2006.
281. YASKAWA Electric Corporation, 2-1 Kurosaki-Shiroishi, Yahatanishi-Ku, Kitakyushu, Fukuoka 806-0004, Japan. Homepage. http://www.yaskawa.com (accessed: Dec. 15, 2008). Internet, 2008.
282. R. Zaier and S. Kanda. Piecewise-linear pattern generator and reflex system for humanoid robots. In Proc. of the IEEE International Conference on Robotics and Automation, pages 2188-2195, Roma, Italy, April 2007.
283. R. Zaier and F. Nagashima. Motion pattern generator and reflex system for humanoid robots. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 840-845, Beijing, China, October 2006.