Analysis Of Spatial Mechanisms For Quasi Direct Drive Redundant Robots

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Analysis of Spatial Mechanisms for Quasi-Direct Drive Redundant Robots

Author :
Publisher :
ISBN 13 :
Total Pages : 63 pages
Book Rating : 4.:/5 (227 download)

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Book Synopsis Analysis of Spatial Mechanisms for Quasi-Direct Drive Redundant Robots by :

Download or read book Analysis of Spatial Mechanisms for Quasi-Direct Drive Redundant Robots written by and published by . This book was released on 1996 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: A serial-parallel robotic manipulator can be viewed as a closed mechanism with multiple-arms. It has the characteristics of both configurations: the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. Two serial-parallel robotic manipulators (a linkage robot and an articulated arm platform robot) were studied in this research on their direct and inverse kinematics, velocity, dynamics, and collision detection. The direct and inverse kinematics problems were solved using the wrist position of each arm. The inverse velocity problem was solved by the force analysis and the principle of virtual work. Based on the velocity analysis, the singularity problem was researched, and the redundant actuation was analyzed. The dynamic models were established using the Lagrange formulation. An efficient algorithm was introduced to detect link collision. This algorithm can be extended to multiple cooperating robots as well. MATLAB was used to simulate robot motion and to verify various control algorithms. To demonstrate the mobility and capability of a linkage robot, a prototype was built from off-the-shelf components whenever possible. Rhino robot's controller along with its motors is used to control this linkage robot.

Mechanism Synthesis and Analysis

Author : Mike McCarthy
Publisher :
ISBN 13 :
Total Pages : 494 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Mechanism Synthesis and Analysis by : Mike McCarthy

Download or read book Mechanism Synthesis and Analysis written by Mike McCarthy and published by . This book was released on 1990 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Flexible Mechanisms, Dynamics, and Analysis

Author : Gary L. Kinzel
Publisher :
ISBN 13 :
Total Pages : 680 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Flexible Mechanisms, Dynamics, and Analysis by : Gary L. Kinzel

Download or read book Flexible Mechanisms, Dynamics, and Analysis written by Gary L. Kinzel and published by . This book was released on 1992 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators

Author : Wallace Hikaru Sunada
Publisher :
ISBN 13 :
Total Pages : 295 pages
Book Rating : 4.:/5 (22 download)

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Book Synopsis Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators by : Wallace Hikaru Sunada

Download or read book Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators written by Wallace Hikaru Sunada and published by . This book was released on 1981 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Redundant-drive Backlash-free Robotic Mechanisms

Author : Sun-Lai Chang
Publisher :
ISBN 13 :
Total Pages : 326 pages
Book Rating : 4.:/5 (272 download)

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Book Synopsis Redundant-drive Backlash-free Robotic Mechanisms by : Sun-Lai Chang

Download or read book Redundant-drive Backlash-free Robotic Mechanisms written by Sun-Lai Chang and published by . This book was released on 1991 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robotics and Manufacturing

Author : International Association of Science and Technology for Development
Publisher : Anaheim [Calif.] ; Calgary : Acta Press
ISBN 13 :
Total Pages : 296 pages
Book Rating : 4.0/5 ( download)

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Book Synopsis Robotics and Manufacturing by : International Association of Science and Technology for Development

Download or read book Robotics and Manufacturing written by International Association of Science and Technology for Development and published by Anaheim [Calif.] ; Calgary : Acta Press. This book was released on 1989 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt:

A New Approach to the Inverse Kinematic Analysis of Redundant Robots

Author : Partha S. Dutta
Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.:/5 (192 download)

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Book Synopsis A New Approach to the Inverse Kinematic Analysis of Redundant Robots by : Partha S. Dutta

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:

ROBOTICS, SPATIAL MECHANISMS AND MECHANICAL SYSTEMS

Author : ARIZ) AUTOR BIENNIAL MECHANISMS CONFERENCE THE 1992 ASME DESIGN TECHNICAL CONFERENCES (22 : 1992 : SCOTTSDALE
Publisher :
ISBN 13 : 9780791809396
Total Pages : 644 pages
Book Rating : 4.8/5 (93 download)

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Book Synopsis ROBOTICS, SPATIAL MECHANISMS AND MECHANICAL SYSTEMS by : ARIZ) AUTOR BIENNIAL MECHANISMS CONFERENCE THE 1992 ASME DESIGN TECHNICAL CONFERENCES (22 : 1992 : SCOTTSDALE

Download or read book ROBOTICS, SPATIAL MECHANISMS AND MECHANICAL SYSTEMS written by ARIZ) AUTOR BIENNIAL MECHANISMS CONFERENCE THE 1992 ASME DESIGN TECHNICAL CONFERENCES (22 : 1992 : SCOTTSDALE and published by . This book was released on 1992 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Analysis and Control of Redundant Robots

Author : Rajiv V. Dubey
Publisher :
ISBN 13 :
Total Pages : 304 pages
Book Rating : 4.:/5 (23 download)

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Book Synopsis Analysis and Control of Redundant Robots by : Rajiv V. Dubey

Download or read book Analysis and Control of Redundant Robots written by Rajiv V. Dubey and published by . This book was released on 1986 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Scientific and Technical Aerospace Reports

Author :
Publisher :
ISBN 13 :
Total Pages : 652 pages
Book Rating : 4.:/5 (3 download)

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Book Synopsis Scientific and Technical Aerospace Reports by :

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.

Robot and Multibody Dynamics

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
ISBN 13 : 1441972676
Total Pages : 512 pages
Book Rating : 4.4/5 (419 download)

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Book Synopsis Robot and Multibody Dynamics by : Abhinandan Jain

Download or read book Robot and Multibody Dynamics written by Abhinandan Jain and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Advances in Robot Kinematics 2018

Author : Jadran Lenarcic
Publisher : Springer
ISBN 13 : 3319931881
Total Pages : 474 pages
Book Rating : 4.3/5 (199 download)

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Book Synopsis Advances in Robot Kinematics 2018 by : Jadran Lenarcic

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.

Robomatix Reporter

Author :
Publisher :
ISBN 13 :
Total Pages : 432 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Robomatix Reporter by :

Download or read book Robomatix Reporter written by and published by . This book was released on 1988 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robot Force Control

Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 1461544319
Total Pages : 154 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Robot Force Control by : Bruno Siciliano

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Modeling, Identification and Control of Robots

Author : W. Khalil
Publisher : Butterworth-Heinemann
ISBN 13 : 0080536611
Total Pages : 503 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil

Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level

Applied Mechanics Reviews

Author :
Publisher :
ISBN 13 :
Total Pages : 348 pages
Book Rating : 4.3/5 (243 download)

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Book Synopsis Applied Mechanics Reviews by :

Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1992 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Advanced Robotics: 1989

Author : Kenneth J. Waldron
Publisher : Springer Science & Business Media
ISBN 13 : 3642839576
Total Pages : 698 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Advanced Robotics: 1989 by : Kenneth J. Waldron

Download or read book Advanced Robotics: 1989 written by Kenneth J. Waldron and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, United States of America.) The subject matter of the papers is equally diverse, covering most technical areas of robotics. The authors are distinguished. They are leaders in the field in their respective countries. The International Conference on Advanced Robotics has always particularly encouraged papers oriented to the design of robotic systems, or to research directed at advanced applications in service robotics, construction, nuclear power, agriculture, mining, underwater systems, and space systems.