Download or read book Identification dynamique des robots flexibilit s articulaires written by Anthony Jubien and published by . This book was released on 2014 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ce travail résulte d'une collaboration entre l'IRCCyN et l'ONERA sur l'identification dynamique des robots à flexibilités articulaires, utilisés par exemple dans les applications de la robotique collaborative. La technique d'identification usuelle en robotique nécessite la mesure des positions moteurs et la mesure des déformations élastiques, non disponibles sur les robots industriels. Récemment, une nouvelle technique nommée DIDIM (Direct and Inverse Dynamic Identification Models), qui utilise uniquement la mesure des efforts moteurs, a été proposée et validée sur les robots rigides. Cette thèse propose une extension de DIDIM, qui n'utilise aucune mesure de position, aux cas des robots à flexibilités articulaires. On réalise d'abord une étude comparative sur un robot rigide 6 axes avec 61 paramètres, qui démontre la supériorité de DIDIM sur une méthode usuelle en boucle fermée à erreur de sortie en position (CLOE) : DIDIM converge 100 fois plus vite et est largement plus robuste vis à vis des erreurs sur les conditions initiales. Ensuite DIDIM est étendue aux robots à flexibilités articulaires avec une procédure en trois étapes : une identification du modèle rigide en basses fréquences, une identification du mode flexible et des inerties de part et d'autre de la flexibilité et enfin une identification globale précise du modèle dynamique flexible complet. Une validation expérimentale est réalisée sur un banc d'essai de robot un axe avec une flexibilité. Ensuite, une validation en simulation sur le robot 7 axes Kuka Light Weight Robot montre l'efficacité de la méthode DIDIM appliquée aux robots à flexibilités articulaires industriels, dans le cas où la commande est connue.
Download or read book Flexible Joint Robots written by Mark C. Readman and published by CRC Press. This book was released on 1994-07-13 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.
Download or read book Model Uncertainty and Robustness for Interactive Robots with Joint Flexibility written by Kevin Robert Haninger and published by . This book was released on 2016 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: Transforming robots from laborers to collaborators promises to significantly broaden their societal impact, but is presently limited by, among other factors, technical feasibility. Interactive robots seek to achieve safe and productive behavior in non-deterministic settings by realizing reactive behavior, which can enable direct human-robot interaction, promising new modalities of power and information flow between human and robots. This can enable assistive or rehabilitative robots which restore or augment human's physical capabilities, as well as expand robotic roles in manufacturing contexts. However, several novel considerations must be made in analysis of robots which seek to achieve interactive behavior. For physical interaction, guarantees of safety become both more important and harder to demonstrate. Often, complex hardware is introduced to meet interactive design criteria (e.g. joint torque sensors which introduce joint flexibility). These more complex dynamics introduce additional sources of model uncertainty, and are typically accompanied by hierarchical controllers which further obfuscate both safety and performance. Additionally, interactive robots will couple with unmodeled environments, changing the effective dynamics of the robot and presenting further analytical challenges. This dissertation examines the safety and performance of uncertain, interactive systems from several perspectives. Limitations to achievable model accuracy and the effects of this model uncertainty on performance and safety are examined analytically and experimentally on series-elastic actuated systems. First, the objectives of interactive robots and constraints introduced by their hardware are introduced. A model for interactive flexible joint robots is motivated which explicitly considers backdriveability of the motor and load-side dynamics. Conditions for passivity of flexible-joint robots which render a load-side impedance are developed, then extended to hold over an uncertain motor model. This robust passivity condition is shown to induce sensible constraints on inner-loop torque controllers. Rigorous means of relaxing this passivity condition are introduced, and the relaxed condition shown to explain interactions known in literature to be unsafe in practice. A model and corresponding uncertainty bound of an experimental setup is characterized through bilateral system identification (i.e. both motor and environment driven) and the results used to validate the robust passivity condition as a practical design tool. This analytical methodology assists hierarchical controller synthesis by generating practical constraints on controller parameters. Performance of a linear interactive system is then defined, and shown to be limited by model uncertainty. However, by incorporating direct measurement of interactive variables (force and motion), this performance can be improved and the robust rendering of desired dynamics can be achieved. A novel controller structure, derived from the disturbance observer, is proposed and analyzed. Again, conditions for passivity are developed, then extended to hold over an uncertain model. For a fixed-structure controller, these conditions are then propagated back onto parameter constraints to inform controller design. The performance of this approach is then validated experimentally. When direct measurement of the interactive force is not feasible, performance improvements can be made by improving model accuracy. Here, a data-driven modeling technique is used to describe non-idealized dynamics. However, interactive systems will couple with unknown environments, making their effective dynamics multimodal and potentially introducing unknown input which confounds identification. A modeling approach suited to these challenges is introduced which allows for the identification of inverse dynamics which are multimodal and subject to intermittent unobserved external disturbances. The passivity of the overall resulting controller policy is shown, and the performance and passivity are validated experimentally. Uncertainty in the environment motivates the need for interactive control, but realization of this control is in turn limited by uncertainty in the robot model. Explicitly exploring the relationship between model uncertainty, safety, and performance can allow relevant limitations to be improved when possible, and respected when not.
Download or read book Robotique flexible Manipulation multi chelle written by GROSSARD Mathieu and published by Lavoisier. This book was released on 2013-07-01 with total page 395 pages. Available in PDF, EPUB and Kindle. Book excerpt: Qu’il s’agisse de tâches de préhension versatile aux échelles du micromonde ou bien de tâches de manipulation fine ou dextre à une échelle dimensionnelle supérieure, la fonction de manipulation robotique nécessite l’utilisation de systèmes mécatroniques performants et précis. Dans la majorité des cas, ceux-ci mettent en jeu des mécanismes qui sont caractérisés par des phénomènes mécaniques de flexibilité. Ces phénomènes sont induits naturellement par l’emploi de certains composants technologiques constitutifs du système ou par la géométrie de certaines structures élancées. Il peut alors s’agir de micromanipulateurs à base de matériaux actifs, de bras manipulateurs légers, d’organes terminaux de préhension très intégrés sur le plan fonctionnel, voire de manipulateurs d’inspiration anthropomorphe. Aperçu des dernières avancées scientifiques et technologiques en la matière, cet ouvrage est destiné à toute personne intéressée par le champ de la robotique flexible et plus particulièrement par la manipulation.
Download or read book Robotics The Algorithmic Perspective written by Pankaj K. Agarwal and published by CRC Press. This book was released on 1998-12-15 with total page 389 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers together cutting-edge research from the Third Workshop on Algorithmic Foundations of Robotics and gives a solid overview of the state of the art in robot algorithms. The papers cover core problems in robotics, such as motion planning, sensor-based planning, manipulation, and assembly planning. They also examine the application o
Download or read book Modele dynamique de robots et methode d identification des parametres inertiels written by Lotfi Belkoura and published by . This book was released on 1993 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mod le dynamique de robots et m thode d identification des param tres intertiels written by Lotfi Belkoura and published by . This book was released on 1993 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 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 Robotics written by Pankaj K. Agarwal and published by . This book was released on 1998 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: Progress on the algorithmic foundations of robotics is critical to the technology. This volume gathers together cutting-edge research presented at the Third Workshop on the Algorithmic Foundations of Robotics, and gives a solid overview of the state of the art in robot algorithms. The papers cover core problems in robotics, such as motion planning, sensor-based planning, manipulation, and assembly planning. They also examine the application of robotics algorithms in domains like molecular modeling, geometric modeling, and computer-assisted surgery.
Download or read book Contemporary Artificial Art and the Law written by Gianmaria Ajani and published by BRILL. This book was released on 2020-09-25 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt: AI as an “autonomous author” urges the law to rethink authorship. Policy makers should consider a reformative conception of AI in copyright law looking at innovative theories in robot law, where new frames for a legal personhood of artificial agents are proposed.
Download or read book Robotic Systems written by S.G. Tzafestas and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is a modern interdisciplinary field that has emerged from the marriage of computerized numerical control and remote manipulation. Today's robotic systems have intelligence features, and are able to perform dexterous and intelligent human-like actions through appropriate combination of learning, perception, planning, decision making and control. This book presents advanced concepts, techniques and applications reflecting the experience of a wide group of specialists in the field. Topics include: kinematics, dynamics, path planning and tracking, control, mobile robotics, navigation, robot programming, and sophisticated applications in the manufacturing, medical, and other areas.
Download or read book Telematic Embrace written by Roy Ascott and published by Univ of California Press. This book was released on 2003 with total page 462 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Telematic Embrace combines a provocative collection of writings from 1964 to the present by the preeminent artist and art theoretician Roy Ascott, with a critical essay by Edward Shanken that situates Ascott's work within a history of ideas in art, technology, and philosophy.
Download or read book Biological Autonomy written by Alvaro Moreno and published by Springer. This book was released on 2015-05-04 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since Darwin, Biology has been framed on the idea of evolution by natural selection, which has profoundly influenced the scientific and philosophical comprehension of biological phenomena and of our place in Nature. This book argues that contemporary biology should progress towards and revolve around an even more fundamental idea, that of autonomy. Biological autonomy describes living organisms as organised systems, which are able to self-produce and self-maintain as integrated entities, to establish their own goals and norms, and to promote the conditions of their existence through their interactions with the environment. Topics covered in this book include organisation and biological emergence, organisms, agency, levels of autonomy, cognition, and a look at the historical dimension of autonomy. The current development of scientific investigations on autonomous organisation calls for a theoretical and philosophical analysis. This can contribute to the elaboration of an original understanding of life - including human life - on Earth, opening new perspectives and enabling fecund interactions with other existing theories and approaches. This book takes up the challenge.
Download or read book The Machine as Art The Machine as Artist written by Juliette Bessette and published by Mdpi AG. This book was released on 2020-10-21 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: The articles collected in this volume from the two companion Arts Special Issues, "The Machine as Art (in the 20th Century)" and "The Machine as Artist (in the 21st Century)", represent a unique scholarly resource: analyses by artists, scientists, and engineers, as well as art historians, covering not only the current (and astounding) rapprochement between art and technology but also the vital post-World War II period that has led up to it; this collection is also distinguished by several of the contributors being prominent individuals within their own fields, or as artists who have actually participated in the still unfolding events with which it is concerned
Download or read book Plans and Situated Actions written by Lucille Alice Suchman and published by Cambridge University Press. This book was released on 1987-11-26 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: A compelling case for the re-examination of interface design models is presented by this text's assertion that human behavior is not taken into account in the planning model generally favored by artificial intelligence.
Download or read book Brands written by Adam Arvidsson and published by Routledge. This book was released on 2006-04-19 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: Brands are now a dominant feature of everyday life. Drawing on rich empirical material, this book builds up a critical theory, arguing that brands have become an important tool for transforming everyday life into economic value.
