Download or read book Kinematic Modeling Identification and Control of Robotic Manipulators written by Henry W. Stone and published by Springer Science & Business Media. This book was released on 1987-09-30 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.
Download or read book Kinematic Models written by Alexander Blackie William Kennedy and published by . This book was released on 1876 with total page 40 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Kinematic Modeling Identification and Control of Robotic Manipulators written by Henry W. Stone and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.
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 and Nonlinear Robust Control of Delta Like Parallel Kinematic Manipulators written by Jonatan Martin Escorcia Hernandez and published by Elsevier. This book was released on 2022-11-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. The book's content will benefit students, researchers and engineers in robotics by providing a simplified methodology to obtain the dynamic model of parallel robots with a delta-type architecture. Moreover, this methodology is compatible with the real-time implementation of model-based and robust control schemes. And, it can easily extend the proposed robust control solutions to other robotic architectures. Introduces a novel parallel robot designed for machining operations called SPIDER4 Presents a mathematical formulation of the kinematic and dynamic models of SPIDER4 Offers validation of the computed mathematical models and designed controllers through real-time experiments under different operating conditions
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Parallel Kinematic Machines written by C.R. Boer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.
Download or read book Theory Methodology Tools and Applications for Modeling and Simulation of Complex Systems written by Lin Zhang and published by Springer. This book was released on 2016-09-22 with total page 739 pages. Available in PDF, EPUB and Kindle. Book excerpt: This four-volume set (CCIS 643, 644, 645, 646) constitutes the refereed proceedings of the 16th Asia Simulation Conference and the First Autumn Simulation Multi-Conference, AsiaSim / SCS AutumnSim 2016, held in Beijing, China, in October 2016. The 265 revised full papers presented were carefully reviewed and selected from 651 submissions. The papers in this first volume of the set are organized in topical sections on modeling and simulation theory and methodology; model engineering for system of systems; high performance computing and simulation; modeling and simulation for smart city.
Download or read book Kinematics and Dynamics of Multibody Systems with Imperfect Joints written by Paulo Flores and published by Springer Science & Business Media. This book was released on 2008-01-10 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.
Download or read book Digital Human Modeling written by Vincent G. Duffy and published by Springer Science & Business Media. This book was released on 2009-07-14 with total page 775 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 13th International Conference on Human–Computer Interaction, HCI Inter- tional 2009, was held in San Diego, California, USA, July 19–24, 2009, jointly with the Symposium on Human Interface (Japan) 2009, the 8th International Conference on Engineering Psychology and Cognitive Ergonomics, the 5th International Conference on Universal Access in Human–Computer Interaction, the Third International Conf- ence on Virtual and Mixed Reality, the Third International Conference on Internati- alization, Design and Global Development, the Third International Conference on Online Communities and Social Computing, the 5th International Conference on Augmented Cognition, the Second International Conference on Digital Human Mod- ing, and the First International Conference on Human Centered Design. A total of 4,348 individuals from academia, research institutes, industry and gove- mental agencies from 73 countries submitted contributions, and 1,397 papers that were judged to be of high scientific quality were included in the program. These papers - dress the latest research and development efforts and highlight the human aspects of the design and use of computing systems. The papers accepted for presentation thoroughly cover the entire field of human–computer interaction, addressing major advances in knowledge and effective use of computers in a variety of application areas.
Download or read book Thrust Belts and Foreland Basins written by Olivier Lacombe and published by Springer Science & Business Media. This book was released on 2007-08-10 with total page 498 pages. Available in PDF, EPUB and Kindle. Book excerpt: What is the important geologic information recorded in Thrust Belts and Foreland Basins (TBFB) on the evolution of orogens? How do they transcript the coupled influence of deep and surficial geological processes? Is it still worth looking for hydrocarbons in foothills areas? These and other questions are addressed in the volume edited by Lacombe, Lavé, Roure and Vergés, which constitutes the Proceedings of the first meeting of the new ILP task force on "Sedimentary Basins", held in December 2005 at the Institut Français du Pétrole, on behalf of the Société Géologique de France and the Sociedad Geologica de España. This volumes spans a timely bridge between recent advances in the understanding of surface processes, field investigations, high resolution imagery, analogue-numerical modelling, and hydrocarbon exploration in TBFB. With 25 thematic papers including well-documented regional case studies, it provides a milestone publication as a new in-depth examination of TBFB.
Download or read book Advances in Robot Kinematics Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Download or read book The Kiloparsec Scale Structure and Kinematics of High Redshift Star Forming Galaxies written by David R. Law and published by Universal-Publishers. This book was released on 2008-09 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: We study the spatially resolved properties of star-forming galaxies at redshift z 2 - 3 on scales 1 kpc using a combination of morphological and kinematic analyses in an effort to characterize the major mechanisms of galaxy formation in the young universe. Using a sample of 216 galaxies which have been spectroscopically confirmed to lie between redshifts z = 1.8 - 3.4 in the GOODS-N field we demonstrate that rest-UV morphology (as seen by the Hubble Space Telescope) is statistically uncorrelated with physical properties such as star formation rate and is therefore unable to support the hypothesis that the prevalence of irregular morphologies indicates a high major merger fraction. Further, we present a sample of 13 galaxies observed with the OSIRIS integral field spectrograph and the Keck laser-guide star adaptive optics system which demonstrate the prevalence of high velocity dispersions 80 km/s and generally little in the way of spatially resolved velocity gradients, inconsistent with favored rotating disk models. We discuss the implications of these results for galaxy formation models, including gas accretion via cold flows and gravitational instability of early gas-rich galactic disks. There is some evidence for a trend towards stronger rotational signatures in galaxies with more massive stellar populations.
Download or read book Mantle Dynamics written by David Bercovici and published by Elsevier. This book was released on 2010-05-17 with total page 7000 pages. Available in PDF, EPUB and Kindle. Book excerpt: Treatise on Geophysics: Mantle Dynamics, Volume 7 aims to provide both a classical and state-of-the-art introduction to the methods and science of mantle dynamics, as well as survey leading order problems (both solved and unsolved) and current understanding of how the mantle works. It is organized around two themes: (1) how is mantle convection studied; and (2) what do we understand about mantle dynamics to date. The first four chapters are thus concerned with pedagogical reviews of the physics of mantle convection; laboratory studies of the fluid dynamics of convection relevant to the mantle; theoretical analysis of mantle dynamics; and numerical analysis and methods of mantle convection. The subsequent chapters concentrate on leading issues of mantle convection itself, which include the energy budget of the mantle; the upper mantle and lithosphere in and near the spreading center (mid-ocean ridge) environment; the dynamics of subducting slabs; hot spots, melting anomalies, and mantle plumes; and finally, geochemical mantle dynamics and mixing. Self-contained volume starts with an overview of the subject then explores each topic in detail Extensive reference lists and cross references with other volumes to facilitate further research Full-color figures and tables support the text and aid in understanding Content suited for both the expert and non-expert
Download or read book Error Compensation for Industrial Robots written by Wenhe Liao and published by Springer Nature. This book was released on 2022-11-29 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Download or read book Parallel Kinematics written by Xin-Jun Liu and published by Springer Science & Business Media. This book was released on 2013-08-15 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interests in robotics and advanced machine tools technology such as parallel kinematics machines (PKMs). Xinjun Liu and Jinsong Wang, professors, work at The Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University.
Download or read book Advances in Robot Kinematics 2024 written by Jadran Lenarčič and published by Springer Nature. This book was released on with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt:
