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Author : Nariman Sepehri
Publisher :
ISBN 13 :
Total Pages : 326 pages
Book Rating : 4.:/5 (74 download)
Download or read book Dynamic Simulation and Control of Teleoperated Heavy-duty Hydraulic Manipulators written by Nariman Sepehri and published by . This book was released on 1990 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Cornelius T. Leondes
Publisher : CRC Press
ISBN 13 : 1482283298
Total Pages : 388 pages
Book Rating : 4.4/5 (822 download)
Download or read book Energy and Power Systems written by Cornelius T. Leondes and published by CRC Press. This book was released on 2000-08-08 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: The technical committee on mechatronics formed by the International Federation for the Theory of Machines and Mechanisms, in Prague, Czech Republic, adopted the following definition for the term: Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design products and manufa
Author :
Publisher :
ISBN 13 :
Total Pages : 422 pages
Book Rating : 4.:/5 (318 download)
Download or read book Journal of Dynamic Systems, Measurement, and Control written by and published by . This book was released on 1996 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Pål Johan From
Publisher : Springer Science & Business Media
ISBN 13 : 1447154630
Total Pages : 402 pages
Book Rating : 4.4/5 (471 download)
Download or read book Vehicle-Manipulator Systems written by Pål Johan From and published by Springer Science & Business Media. This book was released on 2013-10-02 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Author : Vikram Banthia
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (135 download)
Download or read book Haptic-enabled Teleoperation of Single-rod Hydraulic Manipulators written by Vikram Banthia and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hydraulically powered machines such as backhoes, excavators, and underwater manipulators are commonly used in industries and require extensive interaction with highly unstructured environments. Proper operation of these machines with manipulator-like implements depends on the ability of human operators who currently use hand controllers to command in response to various circumstances. This approach, known as teleoperation, combines the strength and accuracy of the manipulator with the intelligence of the human operators who normally use visual information, directly or through cameras, to accomplish a task. Providing haptic sensation about the task environment to operators, augments their ability to perform tele-manipulation. The focus of this thesis is thus on enabling a hydraulic manipulator to interact with the environment using the concept of haptic-enabled teleoperation. The application area is towards the utilization of hydraulic manipulators to perform hazardous and/or difficult tasks such as earth-moving, live-line and underwater maintenance activities. Two main issues in teleoperation control are stability and telepresence. The overall closed-loop control system should be stable irrespective of the behavior of the human operator or the task environment. Although the haptic feedback to the master side enables the human operator to rely on his tactile senses, it can make the overall teleoperation system unstable. Teleoperation control of hydraulic manipulators is generally more challenging than that of their electromechanical counterparts, as hydraulic actuators exhibit significant nonlinear characteristics. In this research, a bilateral control scheme has been developed for haptic teleoperation of single-rod hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the human operator. Stability of the complete control system is confirmed theoretically by building a proper Lyapunov function. In terms of telepresence, haptic sensation is provided to the operator based on the position error between the haptic device end-point and the hydraulic actuator implement displacements. Proposed control scheme can be used in a wide variety of applications where the interaction force between the hydraulic actuator and the task environment cannot be measured. The proposed control scheme is easy to implement as it only requires the measurements of the actuator line pressures and displacements of the master and slave. This control scheme is further improved to incorporate base disturbances of single-rod hydraulic actuators. Stability of this controller with an estimated upper value for the base disturbance is analytically proven. Simulation studies are conducted, which confirms that the developed controllers can effectively stabilize the system while interacting with a task environment. They are further tested experimentally on a hydraulic test rig to verify their practicality and effectiveness in real applications.
Author : Mohammad Jamshidi
Publisher : Prentice Hall
ISBN 13 :
Total Pages : 248 pages
Book Rating : 4.3/5 (91 download)
Download or read book Robotics and Remote Systems for Hazardous Environments written by Mohammad Jamshidi and published by Prentice Hall. This book was released on 1993 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first in a series, this book reports on progress in the use of robots and telerobots in hazardous environments. Topics include sensing and sensory fusion, control, intelligence, hot cells applications, mobile robots and environmentally conscious manufacturing.
Author :
Publisher :
ISBN 13 :
Total Pages : 150 pages
Book Rating : 4.:/5 (684 download)
Download or read book Hydraulic Manipulator Design, Analysis, and Control at Oak Ridge National Laboratory written by and published by . This book was released on 1996 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.
Author : Ali Meghdari
Publisher :
ISBN 13 :
Total Pages : 544 pages
Book Rating : 4.3/5 (91 download)
Download or read book Proceedings of the International Conference on Engineering Applications of Mechanics: Biomechanics written by Ali Meghdari and published by . This book was released on 1992 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Vigen Arakelian
Publisher : Springer
ISBN 13 : 3319743635
Total Pages : 193 pages
Book Rating : 4.3/5 (197 download)
Download or read book Dynamic Decoupling of Robot Manipulators written by Vigen Arakelian and published by Springer. This book was released on 2018-02-20 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
Author : Zhijun Li
Publisher : CRC Press
ISBN 13 : 1466580429
Total Pages : 292 pages
Book Rating : 4.4/5 (665 download)
Download or read book Fundamentals in Modeling and Control of Mobile Manipulators written by Zhijun Li and published by CRC Press. This book was released on 2016-04-19 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.
Author : Mehmet Nureddin Bennett
Publisher : Apprimus Wissenschaftsverlag
ISBN 13 : 3863598199
Total Pages : 280 pages
Book Rating : 4.8/5 (635 download)
Download or read book Active Tip-Over Prevention for Mobile Excavators written by Mehmet Nureddin Bennett and published by Apprimus Wissenschaftsverlag. This book was released on 2020-01-21 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hydraulic Excavators are subjected to tip-over situations with potential hazardous outcome. The given work analyses the state of the art of tip-over protection methods, including the current mandatory overload protection system. Using methods derived from the area of robotics, an algorithm for use as an assistance system was developed to predict and actively prevent dangerous tip-over situations. The developed method was evaluated in multi-body simulation models and in physical field tests.
Author : Fei-Yue Wang
Publisher : World Scientific
ISBN 13 : 9812383905
Total Pages : 457 pages
Book Rating : 4.8/5 (123 download)
Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.
Author :
Publisher :
ISBN 13 :
Total Pages : 792 pages
Book Rating : 4.X/5 (4 download)
Download or read book Dissertation Abstracts International written by and published by . This book was released on 1993-03 with total page 792 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Qing Guo
Publisher : CRC Press
ISBN 13 : 1351798251
Total Pages : 196 pages
Book Rating : 4.3/5 (517 download)
Download or read book Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering written by Qing Guo and published by CRC Press. This book was released on 2017-08-14 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering meets the needs of those working in advanced electro-hydraulic controls for modern mechatronic and robotic systems. The non-linear EHS control methods covered are proving to be more effective than traditional controllers, such as PIDs. The control strategies given address parametric uncertainty, unknown external load disturbance, single-rod actuator characteristics, and control saturation. Theoretical and experimental validations are explained, and examples provided. Based on the authors' cutting-edge research, this work is an important resource for engineers, researchers, and students working in EHS.
Author : Di-Hua Zhai
Publisher : CRC Press
ISBN 13 : 1000865576
Total Pages : 1984 pages
Book Rating : 4.0/5 (8 download)
Download or read book High-Performance Adaptive Control of Teleoperation Systems written by Di-Hua Zhai and published by CRC Press. This book was released on 2023-04-17 with total page 1984 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Author : Roshdy Foaad Abdrabo Abo-Shanab
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (184 download)
Download or read book Dynamic Modeling and Stability Analysis of Mobile Manipulators with Application to Heavy Duty Hydraulic Machines written by Roshdy Foaad Abdrabo Abo-Shanab and published by . This book was released on 2003 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : M.O. Tokhi
Publisher : IET
ISBN 13 : 1849195838
Total Pages : 532 pages
Book Rating : 4.8/5 (491 download)
Download or read book Flexible Robot Manipulators written by M.O. Tokhi and published by IET. This book was released on 2017-06-28 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators.
