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Criteria Based Evaluation Of Stopping Trajectories In Serial Manipulators
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Book Synopsis Criteria Based Evaluation of Stopping Trajectories in Serial Manipulators by : Bryan Christopher Steinfeld
Download or read book Criteria Based Evaluation of Stopping Trajectories in Serial Manipulators written by Bryan Christopher Steinfeld and published by . This book was released on 2009 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system's knowledge of its environment and controlling the manipulator's motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator's overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely "halt" itself. Two sets of criteria are presented in this report. The first set seeks to quantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator's actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.
Book Synopsis Proceedings of the Symposium on Partial Evaluation and Semantics-Based Program Manipulation by :
Download or read book Proceedings of the Symposium on Partial Evaluation and Semantics-Based Program Manipulation written by and published by . This book was released on 1995 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Modelling and Control of Robot Manipulators by : Lorenzo Sciavicco
Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Book Synopsis From batch-size 1 to serial production: Adaptive robots for scalable and flexible production systems by : Mohamad Bdiwi
Download or read book From batch-size 1 to serial production: Adaptive robots for scalable and flexible production systems written by Mohamad Bdiwi and published by Frontiers Media SA. This book was released on 2023-05-24 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fundamentals of Manipulator Calibration by : Benjamin W. Mooring
Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
Book Synopsis Criteria for Low-Speed Longitudinal Handling Qualities by : H.A. Mooij
Download or read book Criteria for Low-Speed Longitudinal Handling Qualities written by H.A. Mooij and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: In-fl ight simulation experiments performed in 1967 with a variable-stabil ity aircraft during the author's stay at Princeton University, motivated the study of handl ing characteristics of future transport aircraft with closed-loop fl ight control systems. In 1972, the first experiment took place at the National Aerospace Laboratory NLR, using one of its research aircraft. In anticipation of expected developments in (digital) fl ight control technology, the research programme following the first experiments was aimed at the establ ishment of quantitative handl ing qual ities criteria. An appreciable part of that programme has been sponsored by the Netherlands Agency for Aerospace Programs (Nederlands Instituut voor VI iegtuigontwikkel ing en Ruimtevaart) and the Department of Civil Aviation of the Netherlands (Rijksluchtvaartdienst). In 1981, a thorough review of the extensive and valuable data gathered was started. The result, presented in this book, was also included in the author's thesis for a Ph.D. degree of the Delft University of Technology. To introduce the reader to the multi-discipl inary field of handl ing qual ities research, introductory chapters are presented on longitudinal aircraft dynamics, closed-loop fl ight control systems using non-mechanical signal transmission, human pilot dynamics, hand I ing qual ities assessment techniques, and the present status of handl ing qual ity criteria.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1997 with total page 816 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Trajectory Planning for Automatic Machines and Robots by : Luigi Biagiotti
Download or read book Trajectory Planning for Automatic Machines and Robots written by Luigi Biagiotti and published by Springer Science & Business Media. This book was released on 2008-10-23 with total page 515 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Book Synopsis Publications of the National Institute of Standards and Technology ... Catalog by : National Institute of Standards and Technology (U.S.)
Download or read book Publications of the National Institute of Standards and Technology ... Catalog written by National Institute of Standards and Technology (U.S.) and published by . This book was released on 1992 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
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 1995 with total page 542 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Experimental Robotics by : Oussama Khatib
Download or read book Experimental Robotics written by Oussama Khatib and published by Springer Science & Business Media. This book was released on 2009-04-22 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.
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.
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.
Author :Jean-Daniel Boissonnat Publisher :Springer Science & Business Media ISBN 13 :9783540404767 Total Pages :600 pages Book Rating :4.4/5 (47 download)
Book Synopsis Algorithmic Foundations of Robotics V by : Jean-Daniel Boissonnat
Download or read book Algorithmic Foundations of Robotics V written by Jean-Daniel Boissonnat and published by Springer Science & Business Media. This book was released on 2003-09-11 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: Selected contributions to the Workshop WAFR 2002, held December 15-17, 2002, Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.
Book Synopsis Handbook of Global Optimization by : Panos M. Pardalos
Download or read book Handbook of Global Optimization written by Panos M. Pardalos and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 571 pages. Available in PDF, EPUB and Kindle. Book excerpt: In 1995 the Handbook of Global Optimization (first volume), edited by R. Horst, and P.M. Pardalos, was published. This second volume of the Handbook of Global Optimization is comprised of chapters dealing with modern approaches to global optimization, including different types of heuristics. Topics covered in the handbook include various metaheuristics, such as simulated annealing, genetic algorithms, neural networks, taboo search, shake-and-bake methods, and deformation methods. In addition, the book contains chapters on new exact stochastic and deterministic approaches to continuous and mixed-integer global optimization, such as stochastic adaptive search, two-phase methods, branch-and-bound methods with new relaxation and branching strategies, algorithms based on local optimization, and dynamical search. Finally, the book contains chapters on experimental analysis of algorithms and software, test problems, and applications.
Download or read book Surgical Robotics written by Jacob Rosen and published by Springer Science & Business Media. This book was released on 2011-01-15 with total page 827 pages. Available in PDF, EPUB and Kindle. Book excerpt: Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
