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Optimization For Robot Modelling With Matlab
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Book Synopsis Optimization for Robot Modelling with MATLAB by : Hazim Nasir Ghafil
Download or read book Optimization for Robot Modelling with MATLAB written by Hazim Nasir Ghafil and published by Springer Nature. This book was released on 2020-02-28 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses optimization in robotics, in terms of both the configuration space and the metal structure of the robot arm itself; and discusses, describes and builds different types of heuristics and algorithms in MATLAB. In addition, the book includes a wealth of examples and exercises. In particular, it enables the reader to write a MATLAB code for all the related problems in robotics. The book also offers detailed descriptions of and builds from scratch several types of optimization algorithms using MATLAB and simplified methods, especially for inverse problems and avoiding singularities. Each chapter features examples and exercises to enhance the reader’s comprehension. Accordingly, the book offers the reader a better understanding of robot analysis from an optimization standpoint.
Book Synopsis A Journey from Robot to Digital Human by : Edward Y L Gu
Download or read book A Journey from Robot to Digital Human written by Edward Y L Gu and published by Springer Science & Business Media. This book was released on 2013-07-24 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Book Synopsis Robotics, Vision and Control by : Peter Corke
Download or read book Robotics, Vision and Control written by Peter Corke and published by Springer. This book was released on 2011-09-05 with total page 572 pages. Available in PDF, EPUB and Kindle. Book excerpt: The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC
Book Synopsis Rigid Body Dynamics Algorithms by : Roy Featherstone
Download or read book Rigid Body Dynamics Algorithms written by Roy Featherstone and published by Springer. This book was released on 2014-11-10 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Book Synopsis Design Optimization using MATLAB and SOLIDWORKS by : Krishnan Suresh
Download or read book Design Optimization using MATLAB and SOLIDWORKS written by Krishnan Suresh and published by Cambridge University Press. This book was released on 2021-04-29 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: A unique text integrating numerics, mathematics and applications to provide a hands-on approach to using optimization techniques, this mathematically accessible textbook emphasises conceptual understanding and importance of theorems rather than elaborate proofs. It allows students to develop fundamental optimization methods before delving into MATLAB®'s optimization toolbox, and to link MATLAB's results with the results from their own code. Following a practical approach, the text demonstrates several applications, from error-free analytic examples to truss (size) optimization, and 2D and 3D shape optimization, where numerical errors are inevitable. The principle of minimum potential energy is discussed to highlight the deep relationship between engineering and optimization. MATLAB code in every chapter illustrates key concepts and the text demonstrates the coupling between MATLAB and SOLIDWORKS® for design optimization. A wide variety of optimization problems are covered including constrained non-linear, linear-programming, least-squares, multi-objective, and global optimization problems.
Book Synopsis Robotics, Vision and Control by : Peter Corke
Download or read book Robotics, Vision and Control written by Peter Corke and published by Springer Science & Business Media. This book was released on 2011-11-03 with total page 574 pages. Available in PDF, EPUB and Kindle. Book excerpt: The practice of robotics and computer vision both involve the application of computational algorithms to data. Over the fairly recent history of the fields of robotics and computer vision a very large body of algorithms has been developed. However this body of knowledge is something of a barrier for anybody entering the field, or even looking to see if they want to enter the field — What is the right algorithm for a particular problem?, and importantly, How can I try it out without spending days coding and debugging it from the original research papers? The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC
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 Operations Research. Optimization With Matlab. Multiobjective, Quadratic and Mixed Programming by : Perez C.
Download or read book Operations Research. Optimization With Matlab. Multiobjective, Quadratic and Mixed Programming written by Perez C. and published by . This book was released on 2017-08-16 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: The generalization of optimization theory and techniques to other formulations comprises a large area of applied mathematics. Optimization includes finding "best available" values of some objective function given a defined domain (or input), including a variety of different types of objective functions and different types of domains.Adding more than one objective to an optimization problem adds complexity. For example, to optimize a structural design, one would desire a design that is both light and rigid. When two objectives conflict, a trade-off must be created. There may be one lightest design, one stiffest design, and an infinite number of designs that are some compromise of weight and rigidity. The set of trade-off designs that cannot be improved upon according to one criterion without hurting another criterion is known as the Pareto set. The curve created plotting weight against stiffness of the best designs is known as the Pareto frontier.A design is judged to be "Pareto optimal" (equivalently, "Pareto efficient" or in the Pareto set) if it is not dominated by any other design: If it is worse than another design in some respects and no better in any respect, then it is dominated and is not Pareto optimal. The choice among "Pareto optimal" solutions to determine the "favorite solution" is delegated to the decision maker. In other words, defining the problem as multi-objective optimization signals that some information is missing: desirable objectives are given but combinations of them are not rated relative to each other. In some cases, the missing information can be derived by interactive sessions with the decision maker.Multi-objective optimization problems have been generalized further into vector optimization problems where the (partial) ordering is no longer given by the Pareto ordering.Optimization problems are often multi-modal; that is, they possess multiple good solutions. They could all be globally good or there could be a mix of globally good and locally good solutions. Obtaining all (or at least some of) the multiple solutions is the goal of a multi-modal optimizer.Classical optimization techniques due to their iterative approach do not perform satisfactorily when they are used to obtain multiple solutions, since it is not guaranteed that different solutions will be obtained even with different starting points in multiple runs of the algorithm. Evolutionary algorithms, however, are a very popular approach to obtain multiple solutions in a multi-modal optimization task.This book develops the following topics:* "Multiobjective Optimization Algorithms" * "Using fminimax with a Simulink Model" * "Signal Processing Using fgoalattain" * "Generate and Plot a Pareto Front" * "Linear Programming Algorithms" * "Maximize Long-Term Investments Using Linear Programming" * "Mixed-Integer Linear Programming Algorithms" * "Tuning Integer Linear Programming" * "Mixed-Integer Linear Programming Basics" * "Optimal Dispatch of Power Generators" * "Mixed-Integer Quadratic Programming Portfolio Optimization" * "Quadratic Programming Algorithms"* "Quadratic Minimization with Bound Constraints" * "Quadratic Minimization with Dense, Structured Hessian"* "Large Sparse Quadratic Program with Interior Point Algorithm" * "Least-Squares (Model Fitting) Algorithms" * "lsqnonlin with a Simulink Model" * "Nonlinear Least Squares With and Without Jacobian" * "Linear Least Squares with Bound Constraints" * "Optimization App with the lsqlin Solver" * "Maximize Long-Term Investments Using Linear Programming" * "Jacobian Multiply Function with Linear Least Squares" * "Nonlinear Curve Fitting with lsqcurvefit" * "Fit a Model to Complex-Valued Data" * "Systems of Equations" * "Nonlinear Equations with Analytic Jacobian" * "Nonlinear Equations with Jacobian" * "Nonlinear Equations with Jacobian Sparsity Pattern"* "Nonlinear Systems with Constraints" * "Parallel Computing for Optimization"
Book Synopsis Optimization in Practice with MATLAB® by : Achille Messac
Download or read book Optimization in Practice with MATLAB® written by Achille Messac and published by Cambridge University Press. This book was released on 2015-03-19 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimization in Practice with MATLAB® provides a unique approach to optimization education. It is accessible to both junior and senior undergraduate and graduate students, as well as industry practitioners. It provides a strongly practical perspective that allows the student to be ready to use optimization in the workplace. It covers traditional materials, as well as important topics previously unavailable in optimization books (e.g. numerical essentials - for successful optimization). Written with both the reader and the instructor in mind, Optimization in Practice with MATLAB® provides practical applications of real-world problems using MATLAB®, with a suite of practical examples and exercises that help the students link the theoretical, the analytical, and the computational in each chapter. Additionally, supporting MATLAB® m-files are available for download via www.cambridge.org.messac. Lastly, adopting instructors will receive a comprehensive solution manual with solution codes along with lectures in PowerPoint with animations for each chapter, and the text's unique flexibility enables instructors to structure one- or two-semester courses.
Book Synopsis Practical Optimization with MATLAB by : Mircea Ancău
Download or read book Practical Optimization with MATLAB written by Mircea Ancău and published by Cambridge Scholars Publishing. This book was released on 2019-10-03 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: This easy-to-follow guide provides academics and industrial engineers with a state-of-the-art numerical approach to the most frequent technical and economical optimization methods. In an engaging manner, it provides the reader with not only a systematic and comprehensive study, but also with necessary and directly implementable code written in the versatile and readily available platform Matlab. The book offers optimization methods for univariate and multivariate constrained or unconstrained functions, general optimization methods and multicriteria optimization methods; provides intuitively, step-by-step explained sample Matlab code, that can be easily adjusted to meet individual requirements; and uses a clear, concise presentation style, which will be suited to readers even without a programming background, as well as to students preparing for examinations in optimization methods.
Book Synopsis ADVANCED OPTIMIZATION with MATLAB Using BIG DATA TECHNIQUES by : J Lopez
Download or read book ADVANCED OPTIMIZATION with MATLAB Using BIG DATA TECHNIQUES written by J Lopez and published by . This book was released on 2019-07-07 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Global Optimization Toolbox provides functions that search for global solutions to problems that contain multiple maxima or minima. Toolbox solvers include surrogate, pattern search, genetic algorithm, particle swarm, simulated annealing, multi start, and global search. You can use these solvers for optimization problems where the objective or constraint function is continuous, discontinuous, stochastic, does not possess derivatives, or includes simulations or black-box functions. For problems with multiple objectives, you can identify a Pareto front using genetic algorithm or pattern search solvers. You can improve solver effective es by adjusting options and, for applicable solvers, customizing creation, update, and search functions. You can use custom data types with the genetic algorithm and simulated annealing solvers to represent problems not easily expressed with standard data types. The hybrid function option lets you improve a solution by applying a second solver after the first.Simulated annealing is a method for solving unconstrained and bound-constrained optimization problems. The method models the physical process of heating a material and then slowly lowering the temperature to decrease defects, thus minimizing the system energy. At each iteration of the simulated annealing algorithm, a new point is randomly generated. The distance of the new point from the current point, or the extent of the search, is based on a probability distribution with a scale proportional to the temperature. The algorithm accepts all new points that lower the objective, but also, with a certain probability, points that raise the objective. By accepting points that raise the objective, the algorithm avoids being trapped in local minima, and is able to explore globally for more possible solutions. An annealing schedule is selected to systematically decrease the temperature as the algorithm proceeds. As the temperature decreases, the algorithm reduces the extent of its search to converge to a minimum.You might need to formulate problems with more than one objective, since a single objective with several constraints may not adequately represent the problem being faced. If so, there is a vector of objectives, F(x) = [F1(x), F2(x), ..., Fm(x)], that must be traded off in some way. The relative importance of these objectives is not generally known until the system's best capabilities are determined and tradeoffs between the objectives fully understood. As the number of objectives increases, tradeoffs are likely to become complex and less easily quantified. The designer must rely on his or her intuition and ability to express preferences throughout the optimization cycle. Thus, requirements for a multiobjective design strategy must enable a natural problema formulation to be expressed, and be able to solve the problem and enter preferences into a numerically tractable and realistic design proble
Book Synopsis Optimization Techniques With MATLAB by : Subrata Pandey
Download or read book Optimization Techniques With MATLAB written by Subrata Pandey and published by SUBRATA PANDEY. This book was released on 2023-03-03 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt: Optimization is a critical area in the fields of science, engineering, and mathematics. It involves finding the optimal solution among feasible alternatives to satisfy certain constraints. Optimization techniques can be applied to a wide range of applications, including finance, machine learning, signal processing, control systems, and many others. This book provides a comprehensive introduction to optimization techniques and their implementation using MATLAB. MATLAB is a powerful computational tool widely used in academia and industry for numerical analysis and scientific computing. The combination of optimization techniques and MATLAB provides a powerful framework for solving complex problems in a variety of fields.
Book Synopsis Applied Optimization with MATLAB Programming by : P. Venkataraman
Download or read book Applied Optimization with MATLAB Programming written by P. Venkataraman and published by John Wiley & Sons. This book was released on 2002 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume will cover all classical linear and nonlinear optimisation techniques while focusing on what has become the industry standard of mathematical engines, MATLAB.
Book Synopsis Advanced Optimization Techniques and Examples with MATLAB by : E. Clapton
Download or read book Advanced Optimization Techniques and Examples with MATLAB written by E. Clapton and published by Createspace Independent Publishing Platform. This book was released on 2016-11-12 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: MATLAB Optimization Toolbox provides widely used algorithms for and large-scale optimization. These algorithms solve constrained and unconstrained continuous and discrete problems. The toolbox, developed in this book, includes functions for linear programming, quadratic programming, binary integer programming, nonlinear optimization, nonlinear least squares, systems of nonlinear equations, and multiobjective optimization. You can use them to find optimal solutions, perform tradeoff analyses, balance multiple design alternatives, and incorporate optimization methods into algorithms and models.The more important features are the next:* Interactive tools for defining and solving optimization problems and monitoring solution progress* Solvers for nonlinear and multiobjective optimization * Solvers for nonlinear least squares, data fitting, and nonlinear equations* Methods for solving quadratic and linear programming problems * Methods for solving binary integer programming problems* Parallel computing support in selected constrained nonlinear solvers
Book Synopsis Model Predictive Control System Design and Implementation Using MATLAB® by : Liuping Wang
Download or read book Model Predictive Control System Design and Implementation Using MATLAB® written by Liuping Wang and published by Springer Science & Business Media. This book was released on 2009-02-14 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model Predictive Control System Design and Implementation Using MATLAB® proposes methods for design and implementation of MPC systems using basis functions that confer the following advantages: - continuous- and discrete-time MPC problems solved in similar design frameworks; - a parsimonious parametric representation of the control trajectory gives rise to computationally efficient algorithms and better on-line performance; and - a more general discrete-time representation of MPC design that becomes identical to the traditional approach for an appropriate choice of parameters. After the theoretical presentation, coverage is given to three industrial applications. The subject of quadratic programming, often associated with the core optimization algorithms of MPC is also introduced and explained. The technical contents of this book is mainly based on advances in MPC using state-space models and basis functions. This volume includes numerous analytical examples and problems and MATLAB® programs and exercises.
Book Synopsis MATLAB Optimization Techniques by : Cesar Lopez
Download or read book MATLAB Optimization Techniques written by Cesar Lopez and published by Apress. This book was released on 2014-11-12 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: MATLAB is a high-level language and environment for numerical computation, visualization, and programming. Using MATLAB, you can analyze data, develop algorithms, and create models and applications. The language, tools, and built-in math functions enable you to explore multiple approaches and reach a solution faster than with spreadsheets or traditional programming languages, such as C/C++ or Java. MATLAB Optimization Techniques introduces you to the MATLAB language with practical hands-on instructions and results, allowing you to quickly achieve your goals. It begins by introducing the MATLAB environment and the structure of MATLAB programming before moving on to the mathematics of optimization. The central part of the book is dedicated to MATLAB’s Optimization Toolbox, which implements state-of-the-art algorithms for solving multiobjective problems, non-linear minimization with boundary conditions and restrictions, minimax optimization, semi-infinitely constrained minimization and linear and quadratic programming. A wide range of exercises and examples are included, illustrating the most widely used optimization methods.
Book Synopsis Path Planning of Cooperative Mobile Robots Using Discrete Event Models by : Cristian Mahulea
Download or read book Path Planning of Cooperative Mobile Robots Using Discrete Event Models written by Cristian Mahulea and published by John Wiley & Sons. This book was released on 2020-01-09 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.