Table of Contents

I. 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.