Download or read book Robot Manipulators written by Etienne Dombre and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

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 Control of Robot Manipulators written by Frank L. Lewis and published by MacMillan Publishing Company. This book was released on 1993 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Space Robotics Dynamics and Control written by Yangsheng Xu and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face. The other benefit is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle, or satellite). Any inefficiency in the planning and control can considerably risk by success of the space mission. Space Robotics: Dynamics and Control presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focussing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control, and astronautical science.

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.

Download or read book An Analysis of the Wood Cutting Process written by Norman Franz and published by . This book was released on 2016-10-30 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this technical age, wood-machining has largely remained an art for a lack of scientific investigation in this field. An Analysis of the Wood-Cutting Process was prepared to provide a basic understanding of wood-cutting and in particular of parallel-grain wood-cutting. Norman C. Franz is an Associate Professor of Wood Technology in the School of Natural Resources at the University of Michigan. The wood-cutting process is defined in terms of the interactions between wood properties, cutting geometry, and the friction between the chip and the tool. In continuous observations, three basic types of chip were identified--each having generated a related quality of surface. In the analysis of the mechanics of chip formation, the book describes the determination of machining efficiency and surface quality; by demonstrated calculations of optimum cutting angles for given wood properties, an equation is derived for the control of surface quality in wood-cutting.

Download or read book Robot Dynamics Algorithms written by Roy Featherstone and published by Kluwer Academic Publishers. This book was released on 1987-01-01 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Multibody Dynamics 2019 written by Andrés Kecskeméthy and published by Springer. This book was released on 2019-06-28 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.

Download or read book 2018 International Conference on Applied Smart Systems ICASS written by IEEE Staff and published by . This book was released on 2018-11-24 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The conference will provide a platform for researchers, experts, practitioners, industrials, academics, from over the world to congregate and share their findings, ideas, scientific knowledge and new techniques applications about latest developments in their respective domain related to the theory and practice of smart systems and technologies

Download or read book Proof Theory and Automated Deduction written by Jean Goubault-Larrecq and published by Springer Science & Business Media. This book was released on 2001-11-30 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interest in computer applications has led to a new attitude to applied logic in which researchers tailor a logic in the same way they define a computer language. In response to this attitude, this text for undergraduate and graduate students discusses major algorithmic methodologies, and tableaux and resolution methods. The authors focus on first-order logic, the use of proof theory, and the computer application of automated searches for proofs of mathematical propositions. Annotation copyrighted by Book News, Inc., Portland, OR

Download or read book Analysis and Optimization of Systems written by Alain Bensoussan and published by . This book was released on 1986 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimal Shape Design for Elliptic Systems written by O. Pironneau and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of optimal shape design can be arrived at by asking the following question: "What is the best shape for a physical system?" This book is an applications-oriented study of such physical systems; in particular, those which can be described by an elliptic partial differential equation and where the shape is found by the minimum of a single criterion function. There are many problems of this type in high-technology industries. In fact, most numerical simulations of physical systems are solved not to gain better understanding of the phenomena but to obtain better control and design. Problems of this type are described in Chapter 2. Traditionally, optimal shape design has been treated as a branch of the calculus of variations and more specifically of optimal control. This subject interfaces with no less than four fields: optimization, optimal control, partial differential equations (PDEs), and their numerical solutions-this is the most difficult aspect of the subject. Each of these fields is reviewed briefly: PDEs (Chapter 1), optimization (Chapter 4), optimal control (Chapter 5), and numerical methods (Chapters 1 and 4).

Download or read book Nondifferentiable Optimization written by Philip Wolfe and published by . This book was released on 1975 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Optimization of Distributed Parameter Structures written by Edward J. Haug and published by Kluwer Academic Publishers. This book was released on 1981 with total page 796 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Global Warming and Climate Change written by Emma Carlson Berne and published by Referencepoint Press. This book was released on 2008 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: Throughout the world, the cause and impact of global warming and climate change is being passionately debated. While many claim that a climate crisis is imminent if greenhouse gases are not curbed, others argue that the effects have been overblown. Through objective overviews, primary sources, and full-color illustrations, this title will examine What Is Global Warming and Climate Change? What Are the Consequences of Global Warming? What Are the Controversies Surrounding Global Warming? What Are the Solutions for Global Warming?

Download or read book Practical Analytic Geometry with Applications to Aircraft written by Roy A. Liming and published by . This book was released on 1944 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Energy Efficiency in Mobility Systems written by Shaharin Anwar Sulaiman and published by Springer Nature. This book was released on 2019-10-03 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights a diverse range of initiatives that have been launched to attain sustainable mobility systems, in particular regarding the energy efficiency aspect. It offers a valuable reference for various stakeholders in transportation systems, while also sharing new ideas on how transportation can meet the challenges of tomorrow.