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 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 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 Advances In Robotics The Ernet Perspective Proceedings Of The Research Workshop Of Ernet European Robotics Network written by Henning Tolle and published by World Scientific. This book was released on 1996-08-16 with total page 307 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the research papers for the final Workshop of European Robotics Network (ERNET). ERNET is a research network created since 1993 in the framework of the Human and Capital Mobility Programme and supported by the Commission of European Communities with the focus on methodologies and applications in the area of Robotics. The participation of a large number of leading laboratories belonging to 10 European countries allowed the development of a significant number of joint research projects and a strong qualification of their goals and results. In this respect, this book is unique since it offers to the interested reader, both in academy and industry, the opportunity to enter the current major research streams in Europe referring to an exciting interdisciplinary area such as Robotics.

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 State Estimation and Stabilization of Nonlinear Systems written by Abdellatif Ben Makhlouf and published by Springer Nature. This book was released on 2023-11-06 with total page 439 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the separation principle which is also known as the principle of separation of estimation and control and states that, under certain assumptions, the problem of designing an optimal feedback controller for a stochastic system can be solved by designing an optimal observer for the system's state, which feeds into an optimal deterministic controller for the system. Thus, the problem may be divided into two halves, which simplifies its design. In the context of deterministic linear systems, the first instance of this principle is that if a stable observer and stable state feedback are built for a linear time-invariant system (LTI system hereafter), then the combined observer and feedback are stable. The separation principle does not true for nonlinear systems in general. Another instance of the separation principle occurs in the context of linear stochastic systems, namely that an optimum state feedback controller intended to minimize a quadratic cost is optimal for the stochastic control problem with output measurements. The ideal solution consists of a Kalman filter and a linear-quadratic regulator when both process and observation noise are Gaussian. The term for this is linear-quadratic-Gaussian control. More generally, given acceptable conditions and when the noise is a martingale (with potential leaps), a separation principle, also known as the separation principle in stochastic control, applies when the noise is a martingale (with possible jumps).

Download or read book Robot Control 1991 SYROCO 91 written by I. Troch and published by Elsevier. This book was released on 2014-05-23 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains 92 papers on the state-of-the-art in robotics research. In this volume topics on modelling and identification are treated first as they build the basis for practically all control aspects. Then, the most basic control tasks are discussed i.e. problems of inverse kinematics. Groups of papers follow which deal with various advanced control aspects. They range from rather general methods to more specialized topics such as force control and control of hydraulic robots. The problem of path planning is addressed and strategies for robots with one arm, for mobile robots and for multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control.

Download or read book Theory and Practice of Robots and Manipulators written by A. Morecki and published by Springer. This book was released on 2014-05-04 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: The CISM-IFToMM Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the Tenth Symposia present a world view to date of the state-of-the-art, including a unique record of the results achieved in central and eastern Europe.

Download or read book Principles of Robot Modelling and Simulation written by Saïd M. Megahed and published by John Wiley & Sons. This book was released on 1993 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Robotics 1989 written by Kenneth J. Waldron and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, United States of America.) The subject matter of the papers is equally diverse, covering most technical areas of robotics. The authors are distinguished. They are leaders in the field in their respective countries. The International Conference on Advanced Robotics has always particularly encouraged papers oriented to the design of robotic systems, or to research directed at advanced applications in service robotics, construction, nuclear power, agriculture, mining, underwater systems, and space systems.

Download or read book CARs and FOF 8th International Conference on CAD CAM Robotics and Factories of the Future written by and published by . This book was released on 1992 with total page 1056 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Journal A written by and published by . This book was released on 1991 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 818 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotics and Flexible Manufacturing Systems written by Jean-Claude Gentina and published by Elsevier Publishing Company. This book was released on 1992 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presented in this volume is a selection of papers in the field of robotics and flexible manufacturing systems, particularly in relation to the different aspects of production engineering in these areas. The volume includes news and original results concerning modelling and control methodologies in robotics, and petri-nets and recent developments in FMS, CIM and CAD with examples of implementation.

Download or read book Theory of Robots written by Peter Kopacek and published by Pergamon. This book was released on 1988 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Very Good,No Highlights or Markup,all pages are intact.

Download or read book Proceedings of the IASTED International Symposium Robotics and Automation written by International Association of Science and Technology for Development and published by Anaheim [Calif.] ; Calgary : Acta Press. This book was released on 1985 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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.