Download or read book Design of a Robotic Dexterous Manipulation Testbed written by Curt Daniel Szymanski and published by . This book was released on 1998 with total page 626 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation
Download or read book Sensing and Actuation Technologies for Dexterous Manipulation in Constrained Environments written by Patrick Lancaster and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A primary reason why dexterous robot manipulation remains challenging is because we havenot equipped our robots with sufficiently robust perception and control systems. In all but the most structured and unconstrained environments, roboticists must make compromises in designing these systems due to an artificially limited set of available sensing and actuation modalities. Since most environments cannot be outfitted with large arrays of cameras, we accept the use of one or a few cameras that are sensitive to lighting conditions and whose view can easily become occluded by environmental clutter or even the robot itself. The range of motion demanded by dexterous manipulation require robots to be highly articulated, forcing us to choose between heavy, power consumptive robots that use many motors or significantly less controllable robots that use fewer. Here, we develop alternative forms of sensing and actuation, and demonstrate their ability to facilitate dexterous manipulation in real robotic systems. We design a fingertip embedded proximity sensor that is robust to occlusion, and propose a framework that allows the robot to estimate the pose of general objects using these types of sensors. With respect to actuation, we design electrostatic brake equipped joints that are four times lighter and a thousand times more power efficient than their motor driven counterparts. We demonstrate that underactuated robots augmented with such brakes achieve independent positional control of each of their joints while maintaining low weight and power consumption. Finally, we integrate both fingertip embedded proximity sensors and electrostatic brakes into a single robot hand. By combining both of these technologies with adapted Bayesian state estimation and model predictive control algorithms, we demonstrate how alternative forms of sensing and actuation increase the speed and precision of in-hand manipulation.
Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer. This book was released on 2012-04-18 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
Download or read book Characteristics of the UW Robotic Manipulation Testbed written by Udo Seybold and published by . This book was released on 2001 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Robotics Testbed The Design and Implementation with Applications written by Travis Alan Riggs and published by . This book was released on 2006 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to study the movements of autonomous mobile robots, a tool is needed to quantify those movements. A testbed is an apparatus that provides a designated space for multiple mobile robots while tracking their position in real-time. That tracking information can also be communicated to the robots themselves to serve as closed-loop feedback. With this tool, many techniques can be developed and validated through various control experiments. A design and implementation of a testbed is presented here. The testbed is analyzed for its performance and several applications are presented to demonstrate its usefulness.
Download or read book Innovative Robot Hand Designs of Reduced Complexity for Dexterous Manipulation written by Qiujie Lu and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design Analysis Implementation and Control of a Mobile Robotic Testbed for Telepresence written by 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 Prototyping of Robotic Systems Applications of Design and Implementation written by Sobh, Tarek and published by IGI Global. This book was released on 2012-02-29 with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt: As a segment of the broader science of automation, robotics has achieved tremendous progress in recent decades due to the advances in supporting technologies such as computers, control systems, cameras and electronic vision, as well as micro and nanotechnology. Prototyping a design helps in determining system parameters, ranges, and in structuring an overall better system. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Prototyping of Robotic Systems: Applications of Design and Implementation provides a framework for conceptual, theoretical, and applied research in robotic prototyping and its applications. Covering the prototyping of various robotic systems including the complicated industrial robots, the tiny and delicate nanorobots, medical robots for disease diagnosis and treatment, as well as the simple robots for educational purposes, this book is a useful tool for those in the field of robotics prototyping and as a general reference tool for those in related fields.
Download or read book Stability Through Design written by Prashant Rao and published by . This book was released on 2018 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: While dexterous robotic manipulation research has made significant advancements in the last two decades in areas of sensors, control strategies, perception and planning, the abilities of robotic hands in unstructured and unpredictable environments are limited. Specifically, a few researchers have shown promising manipulation results with stiffness controllers, which allow for the generation of fingertip forces as a function of displacement. In terms of mechanical design, robotic hands have been converging towards low-inertia, passively compliant, tendon-driven strategies for agility and robustness against environmental impacts. As tendon driven robotic fingers are serial chain systems, various routing strategies with passively compliant tendons lead to unique multi-articular stiffness coupling between the degrees of freedom. The performance of manipulation controllers is highly dependent on the passive properties of the fingers. While tendon-driven robotic fingers are widely accepted to be advantageous for manipulation and stiffness controllers have shown promising results, currently there is no methodology for a thorough analysis of the effects of various compliance arrangements in the fingers on the closed loop properties of stiffness controllers. As a result, we don't have the ability to reliably predict the boundaries of stable operation and determine the limitations due to mechanical parameters for tendon-driven robotic fingers. We also don't have a quantifiable way of exploiting the design of mechanical elements to intrinsically improve the dexterity and robustness of robotic in-hand manipulation by augmenting the controllers. In this dissertation, I present a systematic methodology for analyzing the effects arrangements of passive compliance on tendon driven robotic joints implementing stiffness control strategies. To begin, I develop generalizable comprehensive mechanical models of compliant tendon driven robotic fingers. Then, I identify the various arrangements of passive stiffness elements and analyze their role in the performance of various stiffness control strategies and subsequently towards dexterity. I have analyzed the achievable joint stiffness control boundaries of tendon-driven robotic fingers implementing joint stiffness control leading to a first of its kind generalizable stability boundary that can be applied to robotic fingers with any degrees of freedom and tendon routing strategy. Then, I extend the analysis to Cartesian fingertip space as object manipulation requires accurate control of fingertip force directions and magnitudes. I use the analysis to identify all the mechanical design features and dynamic parameters that have a direct impact on controller stability. I have isolated compliance in parallel to actuators as a significant element for optimization. Optimal linear and nonlinear parallel compliance found using the analysis improved the stability and force tracking accuracy of Cartesian stiffness control even in the presence of external forces. Such features are ideal for in-hand manipulation. Finally, I extend the stability analysis to object-space stiffness controller and optimize linear and nonlinear parallel compliance for improved dexterity, accuracy and robustness of in-hand manipulation. My research not only allows for an accurate prediction of the behavior of stiffness controlled tendon-driven robotic hands but also leads to a mechanical design paradigm informed by the stability of robotic hands allowing for the design of intrinsically stable, robust and dexterous robotic hands that take us one step closer to human-like dexterity
Download or read book Robotic Testbed for Multi robot System written by Xiaolei Hou and published by . This book was released on 2010 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the design and developments of robotic and virtual SWARM testbeds within SWARM Laboratory at the Australian National University. Some experimental works and theoretical outcomes are also included as parts of thesis research. These two testbeds aim to implement the active researches within System and Control Group in ANU on multi-agent systems, especially on formation control, onto physical robots and improve the algorithms practically by making comparisons of the experimental results from robotic and virtual testbeds. Due to the lack of sensing and communicating capabilities of the physical robots, an alternative approach, which deploys visual aid, networked communication and remote control, is proposed to provide localization capabilities for agents to achieve the distributed control system scheme of robotic testbed. While, the virtual testbed are capable to conduct self-localization and inter-agent communication, hence, a different distributed system approach is proposed. A series of various drive modes are developed to simplify the process of implementing Matlab simulations and to improve algorithms' performance. Then a novel method is presented for future use of these two testbed, which enables quick implementations on testbeds with a few modifications on Matlab simulation codes. At last, theoretical research on the development of a cooperative shadowing system is presented, and a speed only approach within this framework is proposed and investigated on the virtual testbed system.
Download or read book Robotic Design written by Meir Weinstein and published by . This book was released on 1975 with total page 52 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design Construction and Control of a Teleoperated Mobile Robot Test bed microform written by L. M. (Loren M.) Wyard-Scott and published by National Library of Canada = Bibliothèque nationale du Canada. This book was released on 1999 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design Construction and Control of a Teleoperated Mobile Robot Test bed written by and published by . This book was released on 1999 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Practical Robot Design written by Jagannathan Kanniah and published by CRC Press. This book was released on 2013-10-17 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designed for beginners, undergraduate students, and robotics enthusiasts, Practical Robot Design: Game Playing Robots is a comprehensive guide to the theory, design, and construction of game-playing robots. Drawing on years of robot building and teaching experience, the authors demonstrate the key steps of building a robot from beginning to end, with independent examples for extra modules. Each chapter covers basic theory and key topics, including actuators, sensors, robot vision, and control, with examples and case studies from robotic games. Furthermore, the book discusses the application of AI techniques and provides algorithms, and application examples with MATLAB® code. The book includes: Comprehensive coverate on drive motors and drive motor control References to vendor websites as necessary Digital control techniques, with a focus on implementation Techniques for designing and implementing slightly advanced controllers for pole-balancing robots Basic artificial intelligence techniques with examples in MATLAB Discussion of the vision systems, sensor systems, and controlling of robots The result of a summer course for students taking up robotic games as their final-year project, the authors hope that this book will empower readers in terms of the necessary background as well as the understanding of how various engineering fields are amalgamated in robotics.
Download or read book UTHM Hand A Dexterous and Anthropomorphic Industrial Robotic Hand written by M. Atif Yaqub and published by LAP Lambert Academic Publishing. This book was released on 2013 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots have become an integral part of modern human life. With every passing year the population of robots is being increased. The industry has replaced a large number of human workers with lesser number of robots on the grounds of economy and efficiency. A robot is a modern version of slave, which perform any task in its capacity satisfying the old human instinct to rule. A robot follows the command as ordered by the human master. Therefore the humans can still enjoy mastering a thoughtless, speechless but efficient slave under their authority. To err is human. But industrialists do not accept the error prone human slaves in their industries due to the financial losses caused by the humanly mistakes. Another reason is the hostile environments in industry which causes serious threat to workers. Hence the trend to replace humans by robotic machines is escalating. Therefore, this book is inquisitively focused on developing a robotic machine that can mimic human hand working in industry.
Download or read book Fundamentals of Robotic Grasping and Fixturing written by Caihua Xiong and published by World Scientific. This book was released on 2007 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
