Download or read book Computer Generated Images written by Nadia Magnenat-Thalmann and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 495 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research, development, and applications in computer graphics have dramatically expanded in recent years. Because of decreasing prices, superior hardware is now being used and image quality is better than ever. Many people now require image-synthesis techniques and software for their applicaions. Moreover, the techniques of computer ani mation have become very popular. In this book, we present a wide range of applications of computer graphics. This book is a collection of 44 papers in various areas of computer graphics selected from papers presented at Graphics Interface '85. Graphics Interface '85, held from May 27 to 31 in Montreal, was the first truly international computer graphics conference in Canada. This year, for the first time, the conference was presented jointly by the Com puter Graphics Society and the Canadian Man-Computer Communications Society. This new arrangement gave the conference international scope. The conference was spon sored by the Department of Communications in Ottawa, the Department of Science and Technology in Quebec, Supply and Services Canada, the Natural Sciences and Engineer ing Research Council of Canada, Hydro-Quebec, the "Association Canadienne Fran«aise pour I' Avancement des Sciences", and the Canadian Broadcasting Corpora tion. Graphics Interface '85 was organized by "1'Ecole des Hautes Etudes Commerciales" of the University of Montreal. Over 100 papers were submitted to the conference , but 64 were selected by the inter national program committee for presentation. This book contains new expanded versions of the papers.

Download or read book Dynamics of Manipulation Robots written by M. Vukobratovic 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: This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe sis and control of artificial motion, have contributed to a gradual formation of this discipline.

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 Kinematics and Trajectory Synthesis of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.

Download or read book Multi body Dynamic Modeling of Multi legged Robots written by Abhijit Mahapatra and published by Springer Nature. This book was released on 2020-02-27 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2018-11-15 with total page 243 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Download or read book Applied Control of Manipulation Robots written by Miomir Vukobratović and published by . This book was released on 1989 with total page 496 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai ned from sensors. The robot control is closely related to the robot pro gramming (i. e. the development of highly-specialized programming lan guages for robot programming). Besides, numerous aspects of the con trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text book.