V
Contents
Preface ............................................................................................ IX
1. A Design Framework for Sensor Integration in Robotic
Applications
.....................................................................................................................1
D. I. Kosmopoulos
2. Joint Torque Sensory in Robotics................................................................. 23
F. Aghili
3. Design and Validation of a Universal 6D Seam Tracking
System in Robotic Welding Based on Laser Scanning
..................47
M. Fridenfalk, G. Bolmsjö
4. Designing Distributed, Component-based Systems for
Industrial Robotic Applications
.......................................................................61
M. Amoretti, S. Caselli, M. Reggiani
5. Designing and Building Controllers for 3D Visual
Servoing Applications under a Modular Scheme
...............................81
M. Bachiller, C. Cerrada, J. A. Cerrada
6. Robot Calibration: Modeling, Measurement and
Applications
............................................................................................................... 107
J. M. S. T. Motta
7. Accuracy and Calibration Issues of Industrial
Manipulators
.............................................................................................................. 131
M. Abderrahim, A. Khamis, S. Garrido, L. Moreno
8. Calibration of Serial Manipulators: Theory and
Applications
............................................................................................................... 147
I. Fassi, G. Legnani, D. Tosi , A. Omodei
9. Calibration of Parallel Kinematic Machines: Theory
and Applications
..................................................................................................... 171
G. Legnani, D. Tosi, R. Adamini, I. Fassi
