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Book Synopsis Performance Improvement for Robotic Mechanisms by by : Bin Wei
Download or read book Performance Improvement for Robotic Mechanisms by written by Bin Wei and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics have been used in many arenas, such as manufacturing, medical, and space. Currently, the use of robotics is limited with respect to performance capabilities. Improving the performance of robotic mechanisms is a main research area. In this thesis, performance improvement is achieved through the approaches of robotic mechanism synthesis design, dynamic balance, and adaptive control. A novel three degrees of freedom hybrid manipulator is designed. After discussing the advantages of this new type of hybrid manipulator, the kinematic and Jacobian matrix of this manipulator are analyzed. The kinematic performances, which include stiffness/compliance and workspace, are then analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted. The dynamics of the proposed manipulator are analyzed based on the Lagrangian method. When robotic mechanisms move, because the center of mass is not fixed and angular momentum is not constant, vibration is produced in the system. Dynamic balance is normally achieved by using counterweight(s), counter-rotation(s) or damping methods. However, the problem is that the whole system will become heavier and have more inertia. It is here proposed that dynamic balancing can be achieved through reconfiguration, rather than using counter-devices, so that the system will not gain any unwanted weight. After designing a balanced single leg, the legs will be combined to synthesize parallel mechanisms, i.e. first dynamically balance a single leg by the reconfiguration method (decomposition) and then combine the balanced legs to synthesize the whole parallel mechanism (integration). As the mechanism is reconfigured, the control system has to be reconfigured accordingly. One way to address the control system reconfiguration is by breaking up the control functions into small functional modules, and from those modules assembling the control system. A hybrid controller for serial robotic manipulators is synthesized by combining a proportional-integral-derivative controller and a model reference adaptive controller in order to further improve the accuracy and joint convergence speed performance. The results show that the convergence speed for the hybrid controller is faster than that of the MRAC controller. The hybrid and MRAC controllers are both better than that of the PID controller. Experimental system is developed to model and verify the correctness of a reconfigured control system.
Book Synopsis Finite and Instantaneous Screw Theory in Robotic Mechanism by : Tao Sun
Download or read book Finite and Instantaneous Screw Theory in Robotic Mechanism written by Tao Sun and published by Springer Nature. This book was released on 2020-02-13 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div
Book Synopsis Efficient Dynamic Simulation of Robotic Mechanisms by : Kathryn Lilly
Download or read book Efficient Dynamic Simulation of Robotic Mechanisms written by Kathryn Lilly and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In particular, the simulation of single closed chains and simple closed-chain mechanisms is investigated in detail. Single closed chains are common in many applications, including industrial assembly operations, hazardous remediation, and space exploration. Simple closed-chain mechanisms include such familiar configurations as multiple manipulators moving a common load, dexterous hands, and multi-legged vehicles. The efficient dynamics simulation of these systems is often required for testing an advanced control scheme prior to its implementation, to aid a human operator during remote teleoperation, or to improve system performance. In conjunction with the dynamic simulation algorithms, efficient algorithms are also derived for the computation of the joint space and operational space inertia matrices of a manipulator. The manipulator inertia matrix is a significant component of any robot dynamics formulation and plays an important role in both simulation and control. The efficient computation of the inertia matrix is highly desirable for real-time implementation of robot dynamics algorithms. Several alternate formulations are provided for each inertia matrix. Computational efficiency in the algorithm is achieved by several means, including the development of recursive formulations and the use of efficient spatial transformations and mathematics. All algorithms are derived and presented in a convenient tabular format using a modified form of spatial notation, a six-dimensional vector notation which greatly simplifies the presentation and analysis of multibody dynamics. Basic definitions and fundamental principles required to use and understand this notation are provided. The implementation of the efficient spatial transformations is also discussed in some detail. As a means of evaluating efficiency, the number of scalar operations (multiplications and additions) required for each algorithm is tabulated after its derivation. Specification of the computational complexity of each algorithm in this manner makes comparison with other algorithms both easy and convenient. The algorithms presented in Efficient Dynamic Simulation of Robotic Mechanisms are among the most efficient robot dynamics algorithms available at this time. In addition to computational efficiency, special emphasis is also placed on retaining as much physical insight as possible during algorithm derivation. The algorithms are easy to follow and understand, whether the reader is a robotics novice or a seasoned specialist.
Book Synopsis An Introduction to Impedance Control of Constrained Robotic Mechanisms by : Hayder Al-Shuka
Download or read book An Introduction to Impedance Control of Constrained Robotic Mechanisms written by Hayder Al-Shuka and published by GRIN Verlag. This book was released on 2020-12-02 with total page 37 pages. Available in PDF, EPUB and Kindle. Book excerpt: Scientific Study from the year 2020 in the subject Engineering - Robotics, University of Baghdad (University of Baghdad, Department of Aeronautical Engineering, Baghdad, Iraq), language: English, abstract: This paper is concerned with summarizing the categories of impedance control showing the feature and the limitations of each category. Much attention is paid to variable impedance control considering the possible control schemes, performance, the stability, the integration of constant/variable compliant elements with the host robots, etc. For a long time, the robotics community concentrated on improving the performance of the robotic systems in free space. The advanced control strategies for position control could not be sufficient to stabilize the motion of robots in constrained spaces. In general, there are two categories of force control schemes with miscellaneous subdivisions: hybrid position-force control and impedance control. The former is well suitable for well-known interaction environment, however, it does not consider the dynamic interaction between robot end-effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion via creating a mathematical relationship between the interaction forces and the reference trajectories. In general, a mass-spring-damper impedance filter is used for stabilization purposes. Tuning the parameters of the impedance filter is not trivial and may lead to unstable contact if an unsuitable strategy is used. The human, however, has amazing control systems with advanced biological actuators. He/she can manipulate the muscles stiffness to softly comply to the interaction forces. Accordingly, the parameters of the impedance filter should be time-varying rather than value-constant in order to meet the human behavior during interaction tasks.
Book Synopsis Modelling and Control of Mechatronic and Robotic Systems by : Alessandro Gasparetto
Download or read book Modelling and Control of Mechatronic and Robotic Systems written by Alessandro Gasparetto and published by MDPI. This book was released on 2021-09-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.
Book Synopsis Mechanism Design for Robotics by : Saïd Zeghloul
Download or read book Mechanism Design for Robotics written by Saïd Zeghloul and published by Springer Nature. This book was released on 2021-05-08 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23–25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
Book Synopsis Advances in Mechanisms, Robotics and Design Education and Research by : Vijay Kumar
Download or read book Advances in Mechanisms, Robotics and Design Education and Research written by Vijay Kumar and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 410 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains papers on a wide range of topics in the area of kinematics, mechanisms, robotics, and design, addressing new research advances and innovations in design education. The content is divided into five main categories headed ‘Historical Perspectives’, ‘Kinematics and Mechanisms’, ‘Robotic Systems’, ‘Legged Locomotion’, and ‘Design Engineering Education’. Contributions take the form of survey articles, historical perspectives, commentaries on trends on education or research, original research contributions, and papers on design education. This volume celebrates the achievements of Professor Kenneth Waldron who has made innumerable and invaluable contributions to these fields in the last fifty years. His leadership and his pioneering work have influenced thousands of people in this discipline.
Book Synopsis Robot Mechanisms by : Jadran Lenarcic
Download or read book Robot Mechanisms written by Jadran Lenarcic and published by Springer Science & Business Media. This book was released on 2012-06-12 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
Book Synopsis Advances in Robot Kinematics: Analysis and Design by : Jadran Lenarčič
Download or read book Advances in Robot Kinematics: Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Book Synopsis Mechanism Design for Robotics by : Marco Ceccarelli
Download or read book Mechanism Design for Robotics written by Marco Ceccarelli and published by MDPI. This book was released on 2019-06-21 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world. The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications. This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
Book Synopsis Applications of Robotics in Industry Using Advanced Mechanisms by : Janmenjoy Nayak
Download or read book Applications of Robotics in Industry Using Advanced Mechanisms written by Janmenjoy Nayak and published by Springer Nature. This book was released on 2019-09-03 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book shares important findings on the application of robotics in industry using advanced mechanisms, including software and hardware. It presents a collection of recent trends and research on various advanced computing paradigms such as soft computing, robotics, smart automation, power control, and uncertainty analysis. The book constitutes the proceedings of the 1st International Conference on Application of Robotics in Industry using Advanced Mechanisms (ARIAM2019), which offered a platform for sharing original research findings, presenting innovative ideas and applications, and comparing notes on various aspects of robotics. The contributions highlight the latest research and industrial applications of robotics, and discuss approaches to improving the smooth functioning of industries. Moreover, they focus on designing solutions for complex engineering problems and designing system components or processes to meet specific needs, with due considerations for public health and safety, including cultural, societal, and environmental considerations. Taken together, they offer a valuable resource for researchers, scientists, engineers, professionals and students alike.
Book Synopsis Advances in Mechanism and Machine Science by : Tadeusz Uhl
Download or read book Advances in Mechanism and Machine Science written by Tadeusz Uhl and published by Springer. This book was released on 2019-06-13 with total page 4248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Book Synopsis Advances in Mechanism and Machine Science by : Masafumi Okada
Download or read book Advances in Mechanism and Machine Science written by Masafumi Okada and published by Springer Nature. This book was released on 2023-11-03 with total page 1018 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 16th IFToMM World Congress, which was held in Tokyo, Japan, on November 5–10, 2023. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Book Synopsis Dynamic Computer Simulation and Performance Evaluation of Robotic Mechanisms by : Wiroj Homsup
Download or read book Dynamic Computer Simulation and Performance Evaluation of Robotic Mechanisms written by Wiroj Homsup and published by . This book was released on 1986 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advances in Reconfigurable Mechanisms and Robots I by : Jian S Dai
Download or read book Advances in Reconfigurable Mechanisms and Robots I written by Jian S Dai and published by Springer Science & Business Media. This book was released on 2012-06-13 with total page 849 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in Reconfigurable Mechanisms and Robots I provides a selection of key papers presented in The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) held on 9th -11th July 2012 in Tianjin, China. This ongoing series of conferences will be covered in this ongoing collection of books. A total of seventy-eight papers are divided into seven parts to cover the topology, kinematics and design of reconfigurable mechanisms with the reconfiguration theory, analysis and synthesis, and present the current research and development in the field of reconfigurable mechanisms including reconfigurable parallel mechanisms. In this aspect, the recent study and development of reconfigurable robots are further presented with the analysis and design and with their control and development. The bio-inspired mechanisms and subsequent reconfiguration are explored in the challenging fields of rehabilitation and minimally invasive surgery. Advances in Reconfigurable Mechanisms and Robots I further extends the study to deployable mechanisms and foldable devices and introduces applications of reconfigurable mechanisms and robots. The rich-content of Advances in Reconfigurable Mechanisms and Robots I brings together new developments in reconfigurable mechanisms and robots and presents a new horizon for future development in the field of reconfigurable mechanisms and robots.
Book Synopsis Robotic Manipulators and Vehicles by : Gerasimos Rigatos
Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos and published by Springer. This book was released on 2018-05-24 with total page 759 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
Book Synopsis Intelligent Robotics and Applications by : Xianmin Zhang
Download or read book Intelligent Robotics and Applications written by Xianmin Zhang and published by Springer. This book was released on 2014-11-15 with total page 618 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two volume set LNAI 8917 and 8918 constitutes the refereed proceedings of the 7th International Conference on Intelligent Robotics and Applications, ICIRA 2014, held in Guangzhou, China, in December 2014. The 109 revised full papers presented were carefully reviewed and selected from 159 submissions. The papers aim at enhancing the sharing of individual experiences and expertise in intelligent robotics with particular emphasis on technical challenges associated with varied applications such as biomedical applications, industrial automations, surveillance, and sustainable mobility.
