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Author : L. Keith Barker
Publisher :
ISBN 13 :
Total Pages : 40 pages
Book Rating : 4.:/5 (317 download)
Download or read book Kinematic Equations for Resolved-rate Control of an Industrial Robot Arm written by L. Keith Barker and published by . This book was released on 1983 with total page 40 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : L. Keith Barker
Publisher :
ISBN 13 :
Total Pages : 48 pages
Book Rating : 4.:/5 (317 download)
Download or read book Translational Control of a Graphically Simulated Robot Arm by Kinematic Rate Equations that Overcome Elbow Joint Singularity written by L. Keith Barker and published by . This book was released on 1984 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 48 pages
Book Rating : 4.3/5 (243 download)
Download or read book NASA Technical Paper written by and published by . This book was released on 1984 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Federal Conference on Intelligent Processing Equipment
Publisher :
ISBN 13 :
Total Pages : 232 pages
Book Rating : 4.:/5 (317 download)
Download or read book The Federal Conference on Intelligent Processing Equipment written by Federal Conference on Intelligent Processing Equipment and published by . This book was released on 1992 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 32 pages
Book Rating : 4.:/5 (317 download)
Download or read book Kinematic Rate Control of Simulated Robot Hand at Or Near Wrist Singularity written by and published by . This book was released on 1985 with total page 32 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 608 pages
Book Rating : 4.:/5 (319 download)
Download or read book NASA Technical Paper written by and published by . This book was released on 1985 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Sbornik Statei
Publisher : Springer Science & Business Media
ISBN 13 : 9401197083
Total Pages : 566 pages
Book Rating : 4.4/5 (11 download)
Download or read book The World Yearbook of Robotics Research and Development written by Sbornik Statei and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 566 pages. Available in PDF, EPUB and Kindle. Book excerpt: How quickly the technological 'flavour of the month' changes. At the beginning of the 1980's many saw 'robotics' as being something of a pana cea for those problems in the manufacturing industries which had been exacerbated by the world recession. Those working at the time in the field of robotics stressed that robots themselves were only part of the solution. Yet in many quarters the 'hype' for the new technology apparently knew few bounds, resulting, inexorably, in many industries painfully discover ing for themselves a new realism, closely followed by disillusionment. In its wider sense the term 'robotics' covers an extremely broad spec trum of technologies ranging from extremely flexible, highly sensory and integrated systems capable of handling a very diverse product range, through to comparatively inflexible, high volume systems which can merely handle slightly different variations of the same basic product. As a result of the one 'buzzword' referring to such a variety of actual system types, the disillusionment which started to become apparent during the early 1980's acted as something of a double edged sword. A given com pany might consider a particular robotics-based technological solution to its production problems, find that it was unsuitable, and so renounce all robotics approaches as inappropriate. Yet just because one position on that spectrum of technological solutions was unsuitable for the company should not have led them to assume that there was no other robotics solu tion that was appropriate.
Author :
Publisher :
ISBN 13 :
Total Pages : 702 pages
Book Rating : 4.:/5 (3 download)
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 702 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : L. Keith Barker
Publisher :
ISBN 13 :
Total Pages : 48 pages
Book Rating : 4.:/5 (31 download)
Download or read book Translation Control of a Graphically Simulated Robot Arm by Kinematic Rate Equations that Overcome Elbow Joint Singularity written by L. Keith Barker and published by . This book was released on 1984 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 298 pages
Book Rating : 4.3/5 (91 download)
Download or read book NASA Technical Memorandum written by and published by . This book was released on 1991 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : L. Keith Barker
Publisher :
ISBN 13 :
Total Pages : 44 pages
Book Rating : 4.:/5 (317 download)
Download or read book Kinematic Control of Robot with Degenerate Wrist written by L. Keith Barker and published by . This book was released on 1984 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt: Kinematic resolved-rate equations allow an operator with visual feedback to dynamically control a robot hand. However, when the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. In this paper, a new method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. There is a brief delay for the coordinated movement (which is accomplished in an optimal manner). The method does not entail infinite joint angle rates and appears to be a beneficial method of control.
Author :
Publisher :
ISBN 13 :
Total Pages : 232 pages
Book Rating : 4.:/5 (31 download)
Download or read book The Federal Conference on Intelligent Processing Equipment written by and published by . This book was released on 1992 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 : Frank L. Lewis
Publisher : CRC Press
ISBN 13 : 9780203026953
Total Pages : 646 pages
Book Rating : 4.0/5 (269 download)
Download or read book Robot Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Author : Shuai Li
Publisher : John Wiley & Sons
ISBN 13 : 1119556996
Total Pages : 278 pages
Book Rating : 4.1/5 (195 download)
Download or read book Kinematic Control of Redundant Robot Arms Using Neural Networks written by Shuai Li and published by John Wiley & Sons. This book was released on 2019-02-12 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
Author : L. Keith Barker
Publisher :
ISBN 13 :
Total Pages : 32 pages
Book Rating : 4.:/5 (31 download)
Download or read book Kinematic Rate Control of Simulated Robot Hand at Or Near Wrist Singularity written by L. Keith Barker and published by . This book was released on 1985 with total page 32 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 1461544319
Total Pages : 154 pages
Book Rating : 4.4/5 (615 download)
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.
