Download or read book Manipulation RobotsDynamics Control and Optimization written by Felix L. Chernousko and published by CRC Press. This book was released on 1993-11-24 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Addresses challenging aspects of robotics research, including the dynamics of robots with elastic parts and optimal control of manipulators. Basics in kinematics, dynamics, drives, and control and sensor systems are discussed. To more efficiently evaluate the elastic compliance of robots and their dynamic accuracy, the authors propose new computer techniques and provide much experimental data. Optimal control methods presented in the book allow robotics engineers to increase the speed and productivity of robotic operations and reduce energy consumption. New developments in robotics covered include pneumatic sensors, adaptive grippers, special robotic systems for measurement and inspection, and wall-climbing robots with technological manipulators. The book will be an important reference for mechanical engineers, electrical engineers, robotics engineers, and researchers in automatic control.
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Download or read book Theory of Applied Robotics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2010-11-05 with total page 888 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this book would not have been possible without the comments and suggestions from my students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped me refine and clarify the material. My intention when writing this book was to develop material that I would have liked to had available as a student. Hopefully, I have succeeded in developing a reference that covers all aspects of robotics with sufficient detail and explanation. The first edition of this book was published in 2007 and soon after its publication it became a very popular reference in the field of robotics. I wish to thank the many students and instructors who have used the book or referenced it. Your questions, comments and suggestions have helped me create the second edition. Preface This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems.
Download or read book Non Adaptive and Adaptive Control 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 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.
Download or read book Distributed Optimisation for Multi Robot Cooperative Manipulation Control in Dynamic Environments written by Yanhao He and published by Logos Verlag Berlin GmbH. This book was released on 2022-12-15 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.
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 Control 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 379 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph represents the second book of the series entitled: "SCI ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu lator design in thfil broader sense of the word. At this point, the au thors would like to present some concepts which were their guidelines in preparing this text.
Download or read book Real Time Dynamics 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 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the fourth book from the Series "Scientific Fundamentals of Ro botics". The first two volumes have established abackqround for studying the dynamics and control of robots. While the first book was exclusive ly devoted to the dynamics of active spatial mechanisms, the second treated the problems of the dynamic control of manipulation robots. In contrast to the first two books, where recursive computer-aided me thods for setting robot dynamic equations where described, this mono graph presents a new approach to the formation of robot dynamics. The goal is to achieve the real-time model computation using up-to-date mi crocomputers. The presented concept could be called a numeric-symbolic, or analytic, approach to robot modelling. It will be shown that the generation of analytical robot model may give new excellent possibili ties concerning real-time applications. It is of essential importance in synthesizing the algorithms for nonadaptive and adaptive control of manipulation robots. If should be pointed out that the high computational efficiency has been achieved by off-line computer-aided preparation of robot equations. The parameters of a specified robot must be given in advance. This, af ter each significant variation in robot structure (geometrical and dy namical parameters) ,we must repeat the off-line stage. Thus is why the numerical procedures will always have their place in studying the dy namic properties of robotic systems. This monograph is organized in 5 chapters.
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 1994-03-22 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
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 Dynamics of Manipulation Robots written by M. Vukobratovic and published by Springer. This book was released on 1982 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents control synthesis principles & control algorithms of manipulation robots based on their exact dynamic mathematical models.
Download or read book Kinematics and Trajectory Synthesis of Manipulation Robots written by M. Vukobratovic and published by Springer. This book was released on 2011-12-22 with total page 0 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 Real time Dynamics of Manipulation Robots written by M. Vukobratovic and published by Springer. This book was released on 1985 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.
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
