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Fundamentals Of Mechanics Of Robotic Manipulation
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Book Synopsis Fundamentals of Mechanics of Robotic Manipulation by : Marco Ceccarelli
Download or read book Fundamentals of Mechanics of Robotic Manipulation written by Marco Ceccarelli and published by Springer Nature. This book was released on 2022-03-30 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Book Synopsis Mechanics of Robotic Manipulation by : Matthew T. Mason
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
Book Synopsis Fundamentals of Robotic Mechanical Systems by : Jorge Angeles
Download or read book Fundamentals of Robotic Mechanical Systems written by Jorge Angeles and published by Springer Science & Business Media. This book was released on 2007-09-04 with total page 537 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).
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.
Book Synopsis Foundations of Robotics by : Tsuneo Yoshikawa
Download or read book Foundations of Robotics written by Tsuneo Yoshikawa and published by MIT Press. This book was released on 1990 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.
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 Mechanics Of Robotic Manipulation by : Mason
Download or read book Mechanics Of Robotic Manipulation written by Mason and published by . This book was released on 2005 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fundamentals of Robotic Grasping and Fixturing by : Caihua Xiong
Download or read book Fundamentals of Robotic Grasping and Fixturing written by Caihua Xiong and published by World Scientific. This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
Book Synopsis Fundamentals of Robotic Mechanical Systems by : Jorge Angeles
Download or read book Fundamentals of Robotic Mechanical Systems written by Jorge Angeles and published by Springer. This book was released on 2008-11-01 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included and this new edition incorporates numerous advances.
Book Synopsis Kinematics and Trajectory Synthesis of Manipulation Robots by : M. Vukobratovic
Download or read book Kinematics and Trajectory Synthesis of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.
Book Synopsis Fundamentals of Robotics by : David Ardayfio
Download or read book Fundamentals of Robotics written by David Ardayfio and published by CRC Press. This book was released on 2020-07-24 with total page 447 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Robotics presents the basic concepts of robots to engineering and technology students and to practicing engineers who want to grasp the fundamentals in the growing field of robotics.
Book Synopsis Introduction to Autonomous Robots by : Nikolaus Correll
Download or read book Introduction to Autonomous Robots written by Nikolaus Correll and published by . This book was released on 2016-04-25 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.
Book Synopsis Fundamentals in Modeling and Control of Mobile Manipulators by : Zhijun Li
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. However, advances in nonlinear system analysis and control
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 283 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 Service Robots and Robotics: Design and Application by : Ceccarelli, Marco
Download or read book Service Robots and Robotics: Design and Application written by Ceccarelli, Marco and published by IGI Global. This book was released on 2012-03-31 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This book offers the latest research within the field of service robotics, using a mixture of case studies, research, and future direction in this burgeoning field of technology"--
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.
Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
