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
Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Download or read book Parallel Robots written by J.-P. Merlet and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Download or read book Modeling Identification and Control of Robots written by Wisama Khalil and published by CRC Press. This book was released on 2002 with total page 508 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Robot Kinematics and Computational Geometry written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.
Download or read book Mechatronic Innovative Applications written by Rochdi Merzouki and published by Bentham Science Publishers. This book was released on 2012-08-15 with total page 261 pages. Available in PDF, EPUB and Kindle. Book excerpt: Present day mechatronic systems are designed with synergistic integration of mechanics, electronics and computer technology to produce intelligent devices for the purpose of solving real-world problems. Crucial requirements for a mechatronic system are robustness and fault tolerance, i.e. it should have the ability to process incomplete, imprecise or uncertain information. Such systems often have to work in collaborative environments while being subjected to adverse conditions yet adhering to strict safety standards. This e-book explains the fundamentals of designing such systems from the first principles and how to embed intelligence into them. Examples in this volume are not restricted to production lines, but extend to extreme safety based systems such as space and underwater robotics, autonomous transportation systems, aviation systems and medical robots. Moreover, this e-book also presents recent developments in the design of innovative and intelligent mechatronic systems, applied to robotics and transportation systems, thereby providing an authoritative support for researchers and professionals having basic knowledge in mechatronics.
Download or read book Advances in Robot Kinematics written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 521 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.
Download or read book Computational Kinematics 95 written by J.-P. Merlet and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the nu merical type, but also of symbolic as well as geometric nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 772 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Download or read book Parallel Robots written by J.P. Merlet and published by Springer. This book was released on 2000-07-31 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Download or read book Advanced Robotics written by and published by . This book was released on 1994 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Motion Control for Intelligent Automation written by A. De Carli and published by Elsevier. This book was released on 2014-06-28 with total page 437 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion Control is a rapidly evolving topic, with a wide range of applications, especially in robotics. Speed and position control of a mechanical system has always been one of the main problems in automatic control, as the demand increases for advanced levels of accuracy and dynamics. The study of motion control aims to combine theoretical approaches with the realization of mechanical systems characterized by high levels of performance. The IFAC workshop focused on the evolution of: mechanical systems modelling; control strategies; intelligent instrumentation; dedicated microprocessor devices, and new fields of application.
Download or read book Government Reports Annual Index written by and published by . This book was released on 1995 with total page 1686 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sections 1-2. Keyword Index.--Section 3. Personal author index.--Section 4. Corporate author index.-- Section 5. Contract/grant number index, NTIS order/report number index 1-E.--Section 6. NTIS order/report number index F-Z.
Download or read book Government Reports Announcements Index written by and published by . This book was released on 1994 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering written by Grigore Gogu and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent advances in the integration and the optimization of product design and manufacturing systems. The book is divided into 3 chapters corresponding to the following three main topics : - optimization of product design process (mechanical design process, mass customization, modeling the product representation, computer support for engineering design, support systems for tolerancing, simulation and optimization tools for structures and for mechanisms and robots), -optimization of manufacturing systems (multi-criteria optimization and fuzzy volumes, tooth path generation, machine-tools behavior, surface integrity and precision, process simulation), - methodological aspects of integrated design and manufacturing (solid modeling, collaborative tools and knowledge formalization, integrating product and process design and innovation, robust and reliable design, multi-agent approach in VR environment). The present book is of interest to engineers, researchers, academic staff, and postgraduate students interested in integrated design and manufacturing in mechanical engineering.
Download or read book Advances in Robot Kinematics written by Jadran Lenarčič and published by Springer. This book was released on 2014-05-19 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
