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Modelling And Control Of Flexible Manipulators In 3d Motion
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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.
Book Synopsis Robot Dynamics And Control by : Mark W Spong
Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
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 PDE Modeling and Boundary Control for Flexible Mechanical System by : Zhijie Liu
Download or read book PDE Modeling and Boundary Control for Flexible Mechanical System written by Zhijie Liu and published by Springer Nature. This book was released on 2020-03-16 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive review of fundamental issues in the dynamical modeling and vibration control design for several flexible mechanical systems, such as flexible satellites, flexible aerial refueling hoses, and flexible three-dimensional manipulators. Offering an authoritative reference guide to the dynamics and control of flexible mechanical systems, it equips readers to solve a host of problems concerning these systems. It provides not only a complete overview of flexible systems, but also a better understanding of the technical levels involved. The book is divided into ten chapters: Chapters 1 and 2 lay the foundations, while the remaining chapters explore several independent yet related topics in detail. The book’s final chapter presents conclusions and recommendations for future research. Given its scope, the book is intended for researchers, graduate students, and engineers whose work involves control systems, flexible mechanical systems, and related areas.
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 488 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 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Wheeled Mobile Robotics by : Gregor Klancar
Download or read book Wheeled Mobile Robotics written by Gregor Klancar and published by Butterworth-Heinemann. This book was released on 2017-02-02 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. - Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners - Includes several examples of the application of algorithms in simulations and real laboratory projects - Presents foundation in mobile robotics theory before continuing with more advanced topics - Self-sufficient to beginner readers, covering all important topics in the mobile robotics field - Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Book Synopsis Simulating Humans by : Norman I. Badler
Download or read book Simulating Humans written by Norman I. Badler and published by Oxford University Press, USA. This book was released on 1993-09-02 with total page 287 pages. Available in PDF, EPUB and Kindle. Book excerpt: The area of simulated human figures is an active research area in computer graphics, and Norman Badler's group at the University of Pennsylvania is one of the leaders in the field. This book summarizes the state of the art in simulating human figures, discusses many of the interesting application areas, and makes some assumptions and predictions about where the field is going.
Book Synopsis Robot Manipulator Control by : Frank L. Lewis
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.
Book Synopsis Mobile Robotics: Solutions And Challenges - Proceedings Of The Twelfth International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines by : Mohammad Osman Tokhi
Download or read book Mobile Robotics: Solutions And Challenges - Proceedings Of The Twelfth International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2009-08-26 with total page 1199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments with a great deal of interest being invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for the dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics specifically in mobile robotics, and their experience is reflected in the careful editing of the contents in the book.
Book Synopsis Robotics and Automation Handbook by : Thomas R. Kurfess
Download or read book Robotics and Automation Handbook written by Thomas R. Kurfess and published by CRC Press. This book was released on 2018-10-03 with total page 604 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error. The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system. With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.
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 Modeling, Identification and Control of Robots by : W. Khalil
Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
Book Synopsis Multibody System Dynamics, Robotics and Control by : Hubert Gattringer
Download or read book Multibody System Dynamics, Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Book Synopsis Robot Manipulators by : Agustin Jimenez
Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Book Synopsis Flexible Robotics in Medicine by : Hongliang Ren
Download or read book Flexible Robotics in Medicine written by Hongliang Ren and published by Academic Press. This book was released on 2020-06-23 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems. Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards.
