Download or read book Model based Variable structure Control of Robot Manipulators in Joint Space and in Cartesian Space written by Po-lun Law and published by . This book was released on 1995 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Model Based Variable Structure Control of Robot Manipulators in Joint Space and in Cartesian Space written by 羅普倫 and published by Open Dissertation Press. This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Model-based Variable-structure Control of Robot Manipulators in Joint Space and in Cartesian Space" by 羅普倫, Po-lun, Law, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. DOI: 10.5353/th_b3121246 Subjects: Robotics Manipulators (Mechanism) - Automatic control

Download or read book Control of Robot Manipulators in Joint Space written by Rafael Kelly and published by Springer Science & Business Media. This book was released on 2007-12-14 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV

Download or read book Robot Manipulators written by Etienne Dombre and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Download or read book Control of Robot Manipulators in Joint Space written by Rafael Kelly and published by Springer. This book was released on 2009-10-12 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV

Download or read book Robot Manipulators written by Etienne Dombre and published by Wiley-ISTE. This book was released on 2007-01-30 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Download or read book Dynamic Analysis of Robot Manipulators written by Constantinos A. Balafoutis and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.

Download or read book Adaptive Neural Network Control of Robotic Manipulators written by Tong Heng Lee and published by World Scientific. This book was released on 1998 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Download or read book Intelligent Control of Robotic Systems written by Laxmidhar Behera and published by CRC Press. This book was released on 2020-04-07 with total page 675 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.

Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.

Download or read book Modeling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by McGraw-Hill Companies. This book was released on 1996 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are uniquely blended and clearly developed in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering oriented solutions are introduced and explained, step by step the book's coverage is further enriched by the inclusion of trajectory planning, actuators, sensors, and control architectures - which are topics not commonly found in other texts, despite their significance for today's industrial robotics.

Download or read book Robotic Manipulators written by Mohammad Yazdani and published by Eliva Press. This book was released on 2023-04-21 with total page 23 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent decades, robotic manipulators have played a very important role in the development of industry and automation. Nowadays, robotic manipulators are performing their tasks alongside human users by having some unique characteristics such as durability in polluted and dangerous environments, repeatability, high accuracy, the ability to move heavy objects, etc. The nonlinear, time-varying and complex dynamics of robotic manipulators and the effects of perturbation on their performance has been faced control engineers with serious challenges to design high performance controller for them. Hence, the focus of this book is on the modeling and control of robotic systems based on sliding mode control as one of the most powerful nonlinear robust control methods to overcome these problems. In this book, methods and principles of position control and position/force control in certain and uncertain environments are introduced. Also, considering the many problems and challenges that torque/force sensors create in the control of robotic systems, approaches to eliminate them are explained. The soft sensor method used in this book to design the controller is based on wavelet neural networks, which have a high ability to detect discontinuities and sudden jumps that commonly occur in the robots working environment. One of the unique features of this book is the use of new and applicable ideas for designing sensor-less robust controller in robotic systems.

Download or read book Control of Robot Manipulators written by Frank L. Lewis and published by MacMillan Publishing Company. This book was released on 1993 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control Dynamics of Robotic Manipulators written by J Skowronski and published by Elsevier. This book was released on 2012-12-02 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements. The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model). The text also describes equations used to determine the force characteristics, energy, and power required in manipulators. For example, damping forces dissipate energy caused by dry friction or viscous damping at mechanical joints due to slips and sheer effects on surfaces. Other examples are oil, water, and air resistance in the environment of the manipulator, as well as damping in links caused by microscopic interface effects. Demands for high-speed and high-accuracy in manipulators require sturdiness in control against variations in the system parameter. The book cites a situation where the manipulator works in a "hot cell" and must be controlled remotely. The text also tackles the avoidance of obstacles by nonvisual means by referring to the works of Lozano, Perez and Wesley, and of Reibert and Horn. The text is useful for students of civil, structural, and mechanical engineering. It will also profit technicians of automatic, telecontrol, and designers of industrial machinery.

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 Proceedings of the Third Guangdong Hong Kong Symposium on the Application of Mechatronics written by and published by . This book was released on 1994 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Control Of Robot Manipulators A Unified Regressor free Approach written by An-chyau Huang and published by World Scientific. This book was released on 2010-04-09 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.