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Author : Michael H. Benjamin
Publisher :
ISBN 13 :
Total Pages : 532 pages
Book Rating : 4.:/5 (141 download)
Download or read book Design and Analysis of a Control System for the M.I.T. Precision Assembly Robot written by Michael H. Benjamin and published by . This book was released on 1985 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Wade H. Shafer
Publisher : Springer Science & Business Media
ISBN 13 : 1461573882
Total Pages : 414 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 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, SIld disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS) * 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 and broader dissemination. tional publishing house to assure improved service 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 30 (thesis year 1985) a total of 12,400 theses titles from 26 Canadian and 186 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.
Author : Xin Xin
Publisher : Springer Science & Business Media
ISBN 13 : 144716251X
Total Pages : 326 pages
Book Rating : 4.4/5 (471 download)
Download or read book Control Design and Analysis for Underactuated Robotic Systems written by Xin Xin and published by Springer Science & Business Media. This book was released on 2014-01-03 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples: l directly and remotely driven Acrobots l Pendubot l rotational pendulum l counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l variable-length pendulum l 3-link gymnastic robot with passive first joint l n-link planar robot with passive first joint l n-link planar robot with passive single joint double, or two parallel pendulums on a cart l 3-link planar robots with underactuation degree two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.
Author : Arthur G.O. Mutambara
Publisher : CRC Press
ISBN 13 : 1003858619
Total Pages : 795 pages
Book Rating : 4.0/5 (38 download)
Download or read book Design and Analysis of Control Systems written by Arthur G.O. Mutambara and published by CRC Press. This book was released on 2024-03-27 with total page 795 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written to inspire and cultivate the ability to design and analyse feasible control algorithms for a wide range of engineering applications, this comprehensive text covers the theoretical and practical principles involved in the design and analysis of control systems. This second edition introduces 4IR adoption strategies for traditional intelligent control, including new techniques of implementing control systems. It provides improved coverage of the characteristics of feedback control, root-locus analysis, frequency-response analysis, state space methods, digital control systems and advanced controls, including updated worked examples and problems. Features: Describes very timely applications and contains a good mix of theory, application, and computer simulation. Covers all the fundamentals of control systems. Takes a transdisciplinary and cross-disciplinary approach. Explores updates for 4IR (Industry 4.0) and includes better experiments and illustrations for nonlinear control systems. Includes homework problems, case studies, examples, and a solutions manual. This book is aimed at senior undergraduate and graduate students, professional engineers and academic researchers, in interrelated engineering disciplines such as electrical, mechanical, aerospace, mechatronics, robotics and other AI-based systems.
Author : Svetan Ratchev
Publisher : Springer
ISBN 13 : 3662455862
Total Pages : 182 pages
Book Rating : 4.6/5 (624 download)
Download or read book Precision Assembly Technologies and Systems written by Svetan Ratchev and published by Springer. This book was released on 2014-11-13 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed post-proceedings of the 7th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2014, held in Chamonix, France, in February 2014. The 20 revised full papers were carefully reviewed and selected from numerous submissions. The papers cover the following topics: micro-assembly processes and systems ranging from desktop factory automation and packaging of MEMS to self-assembly processes and platforms; handling and manipulation, including flexible gripper systems, fixturing and high precision actuators; tolerance management and error-compensation techniques applied at different scales of precision assembly; metrology and quality control; intelligent assembly control; process selection, modelling and planning.
Author : Dan Zhang
Publisher : CRC Press
ISBN 13 : 1498764886
Total Pages : 441 pages
Book Rating : 4.4/5 (987 download)
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Author : Haruhiko Asada
Publisher : MIT Press (MA)
ISBN 13 : 9780262010887
Total Pages : 262 pages
Book Rating : 4.0/5 (18 download)
Download or read book Direct-drive Robots written by Haruhiko Asada and published by MIT Press (MA). This book was released on 1987-01 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second.Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory.The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.Contents: Part I: Direct-Drive Technologies. Introduction. Components. Part II: Arm Design Theory. Power Efficiency. Arm Design for Simplified Dynamics. Actuator Relocation. Design of Decoupled Arm Structures. Part III: Development of the MIT Arm. Mechanisms. Control Systems. Part IV: Selected Papers on Direct-Drive Robot Design and Control.Haruhiko Asada is an Associate Professor, Kyoto University, and Lecturer at MIT He has built two prototypes of the direct-drive arm described here. Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT. He has worked for three years with Asada on the development of the MIT high speed directdrive robot.
Author : Kok K. Tan
Publisher : Springer Science & Business Media
ISBN 13 : 1447136918
Total Pages : 245 pages
Book Rating : 4.4/5 (471 download)
Download or read book Precision Motion Control written by Kok K. Tan and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 245 pages. Available in PDF, EPUB and Kindle. Book excerpt: Precision manufacturing is a development that has been gathering momentum over the last century and accelerating over the last 25 years in terms of research, development, and application to product innovation. The driving force in this development arises from requirements for much higher performance of products, higher reliability, longer life, lower cost, and miniaturization. This development is widely known as precision engineering and, today, it is generally defined as manufacturing to tolerances which are better than one part in 105. Applications are abound and can be found in various semiconductor processes (e.g., lithography, wafer probing, inspection), Coordinate Measuring Machines (CMMs) and precision metrology systems (e.g., Scanning Probe Microscopy (SPM)), and robot/machine tools to carry out micro-assembly (e.g., MEMS) and delicate short wavelength laser processes. As an enabling technology for precision engineering, precision instrumentation and measurement, geometrical calibration and compensation, and motion control are directly important issues to be addressed in the overall system design and realization. This book is focused on these aspects of precision engineering. It is a compilation of the major results and publications from a major project which develop a state-of-the-art high-speed, ultra-precision robotic system. A comprehensive and thorough treatment of the subject matter is provided in a manner that is amenable to a broad base of readers, ranging from the academics to the practitioners, by providing detailed experimental verifications of the developed materials.
Author : Alexander H. Slocum
Publisher : Society of Manufacturing Engineers
ISBN 13 : 0872634922
Total Pages : 767 pages
Book Rating : 4.8/5 (726 download)
Download or read book Precision Machine Design written by Alexander H. Slocum and published by Society of Manufacturing Engineers. This book was released on 1992 with total page 767 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a comprehensive engineering exploration of all the aspects of precision machine design—both component and system design considerations for precision machines. It addresses both theoretical analysis and practical implementation providing many real-world design case studies as well as numerous examples of existing components and their characteristics. Fast becoming a classic, this book includes examples of analysis techniques, along with the philosophy of the solution method. It explores the physics of errors in machines and how such knowledge can be used to build an error budget for a machine, how error budgets can be used to design more accurate machines.
Author : Hui Liu
Publisher : Elsevier
ISBN 13 : 0128229403
Total Pages : 420 pages
Book Rating : 4.1/5 (282 download)
Download or read book Robot Systems for Rail Transit Applications written by Hui Liu and published by Elsevier. This book was released on 2020-06-27 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Systems for Rail Transit Applications presents the latest advances in robotics and artificial intelligence for railway systems, giving foundational principles and running through special problems in robot systems for rail transit. State-of-the art research in robotics and railway systems is presented alongside a series of real-world examples. Eight chapters give definitions and characteristics of rail transit robot systems, describe assembly and collaborative robots in manufacturing, introduce automated guided vehicles and autonomous rail rapid transit, demonstrate inspection robots, cover trench robots, and explain unmanned aerial vehicles. This book offers an integrated and highly-practical way to approach robotics and artificial intelligence in rail-transit. - Introduces robot and artificial intelligence (AI) systems for rail transit applications - Presents research alongside step-by-step coverage of real-world cases - Gives the theoretical foundations underlying practical application - Offers solutions for high-speed railways from the latest work in robotics - Shows how robotics and AI systems afford new and efficient methods in rail transit
Author : H. Asada
Publisher : John Wiley & Sons
ISBN 13 : 9780471830290
Total Pages : 286 pages
Book Rating : 4.8/5 (32 download)
Download or read book Robot Analysis and Control written by H. Asada and published by John Wiley & Sons. This book was released on 1991-01-16 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
Author : Sanjay S. Pande
Publisher : Springer
ISBN 13 : 9811087679
Total Pages : 444 pages
Book Rating : 4.8/5 (11 download)
Download or read book Precision Product-Process Design and Optimization written by Sanjay S. Pande and published by Springer. This book was released on 2018-04-18 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces readers to various tools and techniques for the design of precision, miniature products, assemblies and associated manufacturing processes. In particular, it focuses on precision mechanisms, robotic devices and their control strategies, together with case studies. In the context of manufacturing process, the book highlights micro/nano machining/forming processes using non-conventional energy sources such as lasers, EDM (electro-discharge machining), ECM (electrochemical machining), etc. Techniques for achieving optimum performance in process modeling, simulation and optimization are presented. The applications of various research tools such as FEM (finite element method), neural networks, genetic algorithms, etc. to product-process design and optimization are illustrated through case studies. The state-of-the-art material presented here provides valuable directions for product development and future research work in this area. The contents of this book will be of use to researchers and industry professionals alike.
Author : Sukhan Lee
Publisher : Springer Science & Business Media
ISBN 13 : 3642339263
Total Pages : 861 pages
Book Rating : 4.6/5 (423 download)
Download or read book Intelligent Autonomous Systems 12 written by Sukhan Lee and published by Springer Science & Business Media. This book was released on 2012-11-02 with total page 861 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 1 includes contributions devoted to Autonomous Ground Vehicles and Mobile Manipulators, as well as Unmanned Aerial and Underwater Vehicles and Bio-inspired Robotics.
Author :
Publisher :
ISBN 13 :
Total Pages : 1200 pages
Book Rating : 4.:/5 (318 download)
Download or read book Journal of Mechanical Design written by and published by . This book was released on 1994 with total page 1200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Publishes technical papers concerned with the conception, development and design of machines and mechanical systems. Specific areas of concern include: robotic system design; computer coordinated mechanism; expert systems in design; computer-aided engineering; design optimization; mechanism design; kinematics and dynamics of mechanisms; cam design; gear design; continuously variable transmission; power transimssion design; design of machine elements; design theory and methodology; design technology; stress in design; and reliability in design.
Author : Hagen Schempf
Publisher :
ISBN 13 :
Total Pages : 784 pages
Book Rating : 4.:/5 (318 download)
Download or read book Comparative Design, Modeling and Control Analysis of Robotic Transmissions written by Hagen Schempf and published by . This book was released on 1990 with total page 784 pages. Available in PDF, EPUB and Kindle. Book excerpt: Transmission dynamics are shown to dominate the stability and performance of impedance- and torque controlled rotary electro-mechanical systems. The experimental analysis focuses on planetary, cycloidal, harmonic and cable reducers, but excludes direct-drive, pneumatic, hydraulic and friction drives. Neither sensors nor actuators with better resolution nor increased dynamic range can circumvent reduced stability and performance limitations unless certain hardware criteria can be met Simple transmission models are proposed to model such effects as (1) transmission stiffness, (2) soft-zones and wind-up, (3) backlash and lost motion, and (4) stiction, friction and viscous losses. These models are experimentally verified using six different transmission types most commonly used in robot designs. Simple lumped-parameter linear/nonlinear models are shown to predict stability margins and bandwidths at these margins fairly closely. Simple nonlinear lumped- and fixed-parameter models were unable to properly predict time responses when the torque signals were of low-frequency and amplitude, underscoring the complexity in modeling the transmission-internal stick-slip phenomena. The clear distinction between speed reducers and torque multipliers is theoretically and experimentally explored. The issue of actuator and sensor colocation is shown to be extremely important in predicting the reduced bandwidth and stability of torque-controlled actuator-transmission-load systems. Stiffening transmission behaviors are shown to be of a conditionally stabilizing nature, while also reducing the dynamic range of impedance- and torque-servoed systems. System damping, whether active or passive, as well as low-pass filtering motor-controller signals, are shown to dramatically increase stability without having any effect on increasing system bandwidth. Transmission soft-zones are proven to reduce the stability margins of colocated impedance controlled electro-mechanical systems. None of the standard controller structures explored here were able to noticeably increase the system bandwidth of the open-loop system, without reducing the overall system performance. The different transmissions are tested for system nonidealities and generalizations drawn on the stability and performance margins of impedance and torque-servoed geared, cycloidal, planetary, and cable reducers in hard contact with the environment. Experimental results are furnished which underscore the validity and limitations of the theoretical modeling approach and comparative transmission analysis, while highlighting the importance of different physical system parameters necessary for proper transmission design.
Author :
Publisher :
ISBN 13 :
Total Pages : 232 pages
Book Rating : 4.:/5 (31 download)
Download or read book The Shock and Vibration Bulletin written by and published by . This book was released on 1986 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 400 pages
Book Rating : 4.3/5 (243 download)
Download or read book Applied mechanics reviews written by and published by . This book was released on 1948 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
