Download or read book COLLISION AVOIDANCE TRAJECTORY PLANNING FOR REDUNDANT MANIPULATORS written by ERIC CHIUNG-LI LEE and published by . This book was released on 1991 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: manipulator is ensured.
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.
Download or read book Trajectory Planning for Hyper Redundant Manipulators in Constrained Workspaces written by Mahdi Fallahinejad Ghajari and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Manipulator Redundancy Resolution written by Yunong Zhang and published by John Wiley & Sons. This book was released on 2017-11-13 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Download or read book Path Planning and Obstacle Avoidance for Redundant Manipulators written by Erdinc Sahin Conkur and published by LAP Lambert Academic Publishing. This book was released on 2011-05 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: There are numerous possible applications for redundant manipulators. Since current industrial robots have a maximum of 6 degrees of freedom, their capability of using work space is rather limited. This could be enhanced by means of extra DOF of redundant manipulators. Besides, countless applications in space and any place where maintenance, repair inspection are very difficult benefit the dexterity that redundant manipulators offers. However, there are a number of problems to be solved with redundant manipulators from kinematic control to mechanical design. Satisfactory solutions have not been obtained for path planning and obstacle avoidance problems specifically for redundant manipulators. The algorithms presented in this book offer solutions that enhance path planning and obstacle avoidance capabilities of redundant manipulators.
Download or read book Autonomous Robot Vehicles written by Ingemar J. Cox and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.
Download or read book Trajectory Generation with Collision Avoidance for a Redundant Manipulator written by Nigel S. King and published by . This book was released on 1992 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Italian Mechanism Science written by Vincenzo Niola and published by Springer Nature. This book was released on 2020-08-19 with total page 902 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 3rd International Conference of IFToMM ITALY, held online on September 9-11, 2020. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.
Download or read book Real Time Path Planning and Obstacle Avoidance Algorithms for Redundant Manipulators written by Erdinc Sahin Conkur and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Trajectory Planning for Automatic Machines and Robots written by Luigi Biagiotti and published by Springer Science & Business Media. This book was released on 2008-10-23 with total page 515 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
Download or read book Emerging Trends in Mechanical Engineering written by L. Vijayaraghavan and published by Springer Nature. This book was released on 2019-12-11 with total page 634 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises select proceedings of the International Conference on Emerging Trends in Mechanical Engineering (ICETME 2018). The book covers various topics of mechanical engineering like computational fluid dynamics, heat transfer, machine dynamics, tribology, and composite materials. In addition, relevant studies in the allied fields of manufacturing, industrial and production engineering are also covered. The applications of latest tools and techniques in the context of mechanical engineering problems are discussed in this book. The contents of this book will be useful for students, researchers as well as industry professionals.
Download or read book Differentially Flat Systems written by Hebertt Sira-Ramírez and published by CRC Press. This book was released on 2018-10-03 with total page 489 pages. Available in PDF, EPUB and Kindle. Book excerpt: Illustrating the power, simplicity, and generality of the concept of flatness, this reference explains how to identify, utilize, and apply flatness in system planning and design. The book includes a large assortment of exercises and models that range from elementary to complex classes of systems. Leading students and professionals through a vast array of designs, simulations, and analytical studies on the traditional uses of flatness, Differentially Flat Systems contains an extensive amount of examples that showcase the value of flatness in system design, demonstrate how flatness can be assessed in the context of perturbed systems and apply static and dynamic feedback controller design techniques.
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.
Download or read book Trajectory Planning for Conservative Motion of Redundant Manipulators written by Ron-Kan Younker Chyu and published by . This book was released on 1998 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Redundant Robot Manipulators written by Rajni V. Patel and published by Springer Science & Business Media. This book was released on 2005-05-04 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
Download or read book Robotics in Smart Manufacturing written by Pedro Neto and published by Springer. This book was released on 2013-06-12 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the International Workshop on Robotics in Smart Manufacturing, WRSM 2013, held in Porto, Portugal, in June 2013. The 20 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers address issues such as robotic machining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent warehouses, robot co-workers and application of robots in the textile industry.
Download or read book Autonomous Robots written by Farbod Fahimi and published by Springer Science & Business Media. This book was released on 2008-10-25 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do. Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots. Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot. Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.
