Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Download A New Approach To The Inverse Kinematic Analysis Of Redundant Robots full books in PDF, epub, and Kindle. Read online A New Approach To The Inverse Kinematic Analysis Of Redundant Robots ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Author : Partha S. Dutta
Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.:/5 (192 download)
Download or read book A New Approach to the Inverse Kinematic Analysis of Redundant Robots written by Partha S. Dutta and published by . This book was released on 1988 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Alexander Reiter
Publisher : Springer
ISBN 13 : 3658127015
Total Pages : 100 pages
Book Rating : 4.6/5 (581 download)
Download or read book Time-Optimal Trajectory Planning for Redundant Robots written by Alexander Reiter and published by Springer. This book was released on 2016-03-11 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Author : Jadran Lenarčič
Publisher : Springer Science & Business Media
ISBN 13 : 1402086008
Total Pages : 472 pages
Book Rating : 4.4/5 (2 download)
Download or read book Advances in Robot Kinematics: Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Author : Syed Masrur Ahhmad
Publisher :
ISBN 13 :
Total Pages : 286 pages
Book Rating : 4.:/5 (957 download)
Download or read book Kinematic and Dynamic Analysis of a Hyper-redundant Robotic Manipulator with Experimental Verification written by Syed Masrur Ahhmad and published by . This book was released on 2010 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inverse Kinematics Solutions (IKS) as well as control of hyper-redundant robots are being under investigation by the robotics researchers due to the flexibility of configurations in achieving the same goal. End effectors attached at the tip of such robot are capable of reaching targets avoiding obstacles between the base of the robot and location of the target. Such robots can be programmed to continue operations successfully even after mechanical failure of few joints. However, it is very difficult to manage this flexibility due to the involvement of mathematical complexity in determining inverse kinematics of these robots, especially, handling of pseudo inverse of non-square matrices. Various techniques have so far been proposed by the researchers for inverse kinematics of hyper-redundant robots that involve wide range of mathematics including nonlinear optimization, Artificial Neural Network, Fuzzy Logic, etc. Most of these methods are often found to fail due to singular IKS. In this thesis a new technique has been proposed that assumes an initial configuration with a virtual layer. The virtual layer assumes an isosceles triangle formed of two subrobots each consisting of same number of links, and the imaginary line joining the location of the target and the base of the robot. Thus two sides of the isosceles triangle appear in singular configuration. In the successive steps the singularities are removed by first shifting the vertex towards the base of the triangle along the median of the triangle and then adjusting links on both subrobots to assume a coil shape. This ultimately leads to inverse kinematics of the hyper-redundant robot free from any singular configuration. Kinetics analyses are then done based on the IKS and appropriate actuators are selected accordingly. Total energy required to run the robot is found to depend on the selection of the point on the median line and is minimum corresponding to a point close to the base of the triangle. To verify the proposed IKS technique a laboratory scale four link prototype is built. Off-the-shelf servo motors are used as actuators in actuating the joints of the prototype. Results of the experiment show very good agreement with the analyses. Comparison of the proposed technique shows superiority over ANFIS, one of the recent techniques used for IKS of hyper-redundant robots. The proposed IKS technique and control approach is designed for planner robots with even number of links only. To make it generalized it needs to be studied for any number of links as well as robots in 3D space.
Author : Noor Saeed
Publisher : LAP Lambert Academic Publishing
ISBN 13 : 9783659938115
Total Pages : 220 pages
Book Rating : 4.9/5 (381 download)
Download or read book Forward and Inverse Kinematic Analysis of Robots written by Noor Saeed and published by LAP Lambert Academic Publishing. This book was released on 2020-07-23 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to control a robot we have to know its kinematics (what is attached to what, how many joints are there, how many degree of freedom, ect.). This book presents an approach that formalizes all of these mathematically for several robot configurations and get equations that can: 1) Convert from angular position of each joint (joint space) to the cartesian positions of the end effector called forward kinematics. 2) Convert from cartesian space to the joint space that is called inverse kinematics. The derived equations for forward kinematics and inverse kinematics have been invested in this work to represent the work space for different physical structures of robots. In this work an adopted user interface software (Visual Basic) that contains several types of windows have been built to simplify the solution for both forward and inverse kinematics for different robot configurations. In addition a program has been built using mat lab for representing, modeling and simulating the joint positions and the work space.
Author : Rachid Manseur
Publisher :
ISBN 13 :
Total Pages : 278 pages
Book Rating : 4.:/5 (198 download)
Download or read book Inverse Kinematic Analysis of Robot Manipulators written by Rachid Manseur and published by . This book was released on 1988 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer controlled robot manipulators are becoming an important part of automated manufacturing plants thereby creating a need for reliable and fast control algorithms that can improve the performance of robot manipulators in industrial applications. An important part of such control algorithms is the inverse kinematics portion which consists of computing the values of the robotic joint variables corresponding to a desired and effector position and orientation. This work is based on a new approach that uses orthogonality of rotation matrices to reduce the problem to a simpler form. The reduction techniques are first used to analyze to the kinematics of four-degree-of-freedom (DOF) robots. The results obtained are then applied to the study of five- and six-degree-of-freedom manipulators. Fast one-and two-dimensional numerical techniques for solving five- and six-DOF arms of arbitrary geometry are developed. These new methods provide a large reduction in computational complexity and can be easily implemented in real-time applications. another contribution of this work is a classification of robot geometries in terms of inverse kinematic complexity. Some new sufficient structural conditions for the possibility of closed-form solutions for five- and six-DOF robot manipulators are described. In the case of six-DOF arms, structural conditions for the applicability of a one-dimensional iterative technique are also provided. Finally, in the example applications of the techniques presented here, we describe a six-degree-of freedom manipulator capable of achieving a particular end-effector pose in sixteen distinct configurations.
Author : BBVL. Deepak
Publisher : Springer Nature
ISBN 13 : 9811526966
Total Pages : 1049 pages
Book Rating : 4.8/5 (115 download)
Download or read book Innovative Product Design and Intelligent Manufacturing Systems written by BBVL. Deepak and published by Springer Nature. This book was released on 2020-03-13 with total page 1049 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers selected research articles from the International Conference on Innovative Product Design and Intelligent Manufacturing System (ICIPDIMS 2019), held at the National Institute of Technology, Rourkela, India. The book discusses latest methods and advanced tools from different areas of design and manufacturing technology. The main topics covered include design methodologies, industry 4.0, smart manufacturing, and advances in robotics among others. The contents of this book are useful for academics as well as professionals working in industrial design, mechatronics, robotics, and automation.
Author : Oscar Altuzarra
Publisher : Springer Nature
ISBN 13 : 3031081404
Total Pages : 494 pages
Book Rating : 4.0/5 (31 download)
Download or read book Advances in Robot Kinematics 2022 written by Oscar Altuzarra and published by Springer Nature. This book was released on 2022-06-17 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.
Author : Jadran Lenarcic
Publisher : Springer
ISBN 13 : 3319931881
Total Pages : 474 pages
Book Rating : 4.3/5 (199 download)
Download or read book Advances in Robot Kinematics 2018 written by Jadran Lenarcic and published by Springer. This book was released on 2018-06-22 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Author : Wade H. Shafer
Publisher : Springer Science & Business Media
ISBN 13 : 1461573947
Total Pages : 430 pages
Book Rating : 4.4/5 (615 download)
Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Oata Analysis and Synthesis (CINOAS) * at Purdue. University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 33 (thesis year 1988) a total of 13,273 theses titles from 23 Canadian and 1 85 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this important annual reference work. While Volume 33 reports theses submitted in 1988, on occasion, certain univer sities do report theses submitted in previous years but not reported at the time.
Author : Jadran Lenarčič
Publisher : Springer Science & Business Media
ISBN 13 : 9401590648
Total Pages : 578 pages
Book Rating : 4.4/5 (15 download)
Download or read book Advances in Robot Kinematics: Analysis and Control written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt: The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.
Author : Kevin M. Lynch
Publisher : Cambridge University Press
ISBN 13 : 1107156300
Total Pages : 545 pages
Book Rating : 4.1/5 (71 download)
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author : Alexander Reiter
Publisher : Springer Nature
ISBN 13 : 365828594X
Total Pages : 191 pages
Book Rating : 4.6/5 (582 download)
Download or read book Optimal Path and Trajectory Planning for Serial Robots written by Alexander Reiter and published by Springer Nature. This book was released on 2019-11-06 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution. About the Author: Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
Author : J.P. Merlet
Publisher : Springer Science & Business Media
ISBN 13 : 1402041330
Total Pages : 418 pages
Book Rating : 4.4/5 (2 download)
Download or read book Parallel Robots written by J.P. Merlet and published by Springer Science & Business Media. This book was released on 2006-07-01 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.
Author : Yunong Zhang
Publisher : John Wiley & Sons
ISBN 13 : 1119381231
Total Pages : 319 pages
Book Rating : 4.1/5 (193 download)
Download or read book Robot Manipulator Redundancy Resolution written by Yunong Zhang and published by John Wiley & Sons. This book was released on 2017-11-13 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Author : Sabine Stifter
Publisher : Springer
ISBN 13 :
Total Pages : 506 pages
Book Rating : 4.3/5 (91 download)
Download or read book Advances in Robot Kinematics written by Sabine Stifter and published by Springer. This book was released on 1991 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990. The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics.
Author : Hamid D. Taghirad
Publisher : CRC Press
ISBN 13 : 1466555769
Total Pages : 537 pages
Book Rating : 4.4/5 (665 download)
Download or read book Parallel Robots written by Hamid D. Taghirad and published by CRC Press. This book was released on 2013-02-20 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.
