Download or read book Dynamics and Robust Control of Robot Environment Interaction written by Miomir Vukobratovic and published by World Scientific. This book was released on 2009 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.

Download or read book Dynamics And Robust Control Of Robot environment Interaction written by Miomir Vukobratovic and published by World Scientific. This book was released on 2009-03-06 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots.

Download or read book Human Robot Interaction Control Using Reinforcement Learning written by Wen Yu and published by John Wiley & Sons. This book was released on 2021-10-19 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive exploration of the control schemes of human-robot interactions In Human-Robot Interaction Control Using Reinforcement Learning, an expert team of authors delivers a concise overview of human-robot interaction control schemes and insightful presentations of novel, model-free and reinforcement learning controllers. The book begins with a brief introduction to state-of-the-art human-robot interaction control and reinforcement learning before moving on to describe the typical environment model. The authors also describe some of the most famous identification techniques for parameter estimation. Human-Robot Interaction Control Using Reinforcement Learning offers rigorous mathematical treatments and demonstrations that facilitate the understanding of control schemes and algorithms. It also describes stability and convergence analysis of human-robot interaction control and reinforcement learning based control. The authors also discuss advanced and cutting-edge topics, like inverse and velocity kinematics solutions, H2 neural control, and likely upcoming developments in the field of robotics. Readers will also enjoy: A thorough introduction to model-based human-robot interaction control Comprehensive explorations of model-free human-robot interaction control and human-in-the-loop control using Euler angles Practical discussions of reinforcement learning for robot position and force control, as well as continuous time reinforcement learning for robot force control In-depth examinations of robot control in worst-case uncertainty using reinforcement learning and the control of redundant robots using multi-agent reinforcement learning Perfect for senior undergraduate and graduate students, academic researchers, and industrial practitioners studying and working in the fields of robotics, learning control systems, neural networks, and computational intelligence, Human-Robot Interaction Control Using Reinforcement Learning is also an indispensable resource for students and professionals studying reinforcement learning.

Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.

Download or read book Mastering Robot dynamics written by Cybellium Ltd and published by Cybellium Ltd. This book was released on with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: Embark on an Enlightening Journey to "Mastering Robot Dynamics" In a world driven by automation and robotics, mastering the intricacies of robot dynamics is pivotal for creating advanced robotic systems that move with precision and intelligence. "Mastering Robot Dynamics" is your ultimate guide to navigating the complex world of robot motion, control, and manipulation. Whether you're an engineer, researcher, robotics enthusiast, or student, this book equips you with the knowledge and skills needed to excel in designing and controlling sophisticated robotic mechanisms. About the Book: "Mastering Robot Dynamics" takes you on a transformative journey through the intricacies of robot motion and control, from foundational concepts to advanced techniques. From kinematics and dynamics to trajectory planning and real-time control, this book covers it all. Each chapter is meticulously designed to provide both a deep understanding of the principles and practical applications in real-world robotic scenarios. Key Features: · Foundational Understanding: Build a solid foundation by comprehending the core principles of robot dynamics, including kinematics, inertia, and motion equations. · Robot Kinematics: Explore forward and inverse kinematics, understanding how robots move and calculating joint configurations. · Robot Dynamics: Dive into the study of forces, torques, and motion equations, learning how robots interact with their environments. · Trajectory Planning: Master the art of planning robot paths and trajectories, considering constraints and optimizing motion sequences. · Sensors and Perception: Gain insights into sensor integration, perception systems, and how robots interact with the world through feedback. · Motion Control: Learn about different types of control strategies, from PID control to advanced techniques like model predictive control. · Collision Avoidance: Understand methods for detecting and avoiding collisions, ensuring safety and reliability in robot operations. · Robot Manipulation: Explore techniques for manipulating objects, including grasp planning, manipulation tasks, and robotic arms. · Challenges and Trends: Discover challenges in robot dynamics, from sensor noise to complex control algorithms, and explore emerging trends shaping the future of robotics. Who This Book Is For: "Mastering Robot Dynamics" is designed for engineers, researchers, robotics enthusiasts, students, and anyone passionate about robotics. Whether you're aiming to enhance your skills or embark on a journey toward becoming a robotics expert, this book provides the insights and tools to navigate the complexities of designing and controlling robotic systems. © 2023 Cybellium Ltd. All rights reserved. www.cybellium.com

Download or read book Human Robot Interaction written by Dan Zhang and published by Cambridge Scholars Publishing. This book was released on 2020-08-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces state-of-the-art technologies in the field of human-robot interactions. It details advances made in this field in recent decades, including dynamics, controls, design analysis, uncertainties, and modelling. The text will appeal to graduate students, practitioners and researchers in the fields of robotics, computer and cognitive science, and mechanical engineering.

Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Download or read book Robust Control of Robots written by Adriano A. G. Siqueira and published by Springer. This book was released on 2014-09-19 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.

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 2018-10-29 with total page 272 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 Advances in Human Robot Interaction written by Erwin Prassler and published by Springer Science & Business Media. This book was released on 2004-10-27 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.

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 Robotics Research written by Cédric Pradalier and published by Springer Science & Business Media. This book was released on 2011-05-02 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-Robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.

Download or read book Inverse Dynamics Control in Robotics Applications written by Krzysztof Piotr Jankowski and published by Trafford. This book was released on 2004 with total page 265 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents both the foundations and implementation aspects of the inverse dynamics control, and examines how the solution of the inverse dynamics problem can be used for the development of controllers for selected engineering applications. The inverse dynamics control approach is directly related to the solution of the inverse dynamics problem considered in analytical mechanics. Having the specified motion and the desired properties of the resulting system, the control inputs that ensure the realization of these control objectives are to be found. By appropriately inverting the dynamic model of the plant to be controlled, a control law can be constructed which cancels the nonlinear part of the dynamics, decouples the interactions between the regulated variables, and specifies the time characteristics of the decay of the task errors. The constrained system formalism is used throughout the book and its usefulness for inverse dynamics formulation is established. The capability of the inverse dynamics controller to enforce the execution of prescribed motion of the system and at the same time to control the interaction forces with the environment is demonstrated. A new approach for the task space decomposition needed for hybrid position/force control is developed, motivated by constrained system formalism and linear algebra methods. The application of the inverse dynamics control is illustrated for several exemplary mechanical systems and for a wide variety of robotic systems; including robots constrained by the environment, robots with flexible joints, multiple robot arms, etc. Pure nonlinear inverse dynamics control is considered, as well as its robust version, and the approximate solutions to the problem. The results of numerical simulations and real-time experiments are presented to support the analytical developments. More than 200 literature sources are referred to in the book. Many mechanical systems considered in engineering practice are dynamically similar to the class of systems considered in this book. The new applications for inverse dynamics solutions arise in such fields as high precision robot manipulator control, flight control, biomechanics, vehicle control, and in many related areas. Therefore, the book can be of interest to specialists involved in developing control laws for a large variety of mechanical systems.

Download or read book Adaptive Robust Control for Planar Snake Robots written by Joyjit Mukherjee and published by Springer Nature. This book was released on 2021-05-11 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

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 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.