Download or read book Numerical Modelling in Robotics written by Edgar Alonso Martínez García and published by OmniaScience. This book was released on 2015-10-06 with total page 467 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modern robotic systems are tied to operate autonomously in real-world environments performing a variety of complex tasks. Autonomous robots must rely on fundamental capabilities such as locomotion, trajectory tracking control, multi-sensor fusion, task/path planning, navigation, and real-time perception. Combining this knowledge is essential to design rolling, walking, aquatic, and hovering robots that sense and self-control. This book contains a mathematical modelling framework to support the learning of modern robotics and mechatronics, aimed at advanced undergraduates or first-year PhD students, as well as researchers and practitioners. The volume exposes a solid understanding of mathematical methods as a common modelling framework to properly interpret advanced robotic systems. Including numerical approximations, solution of linear and non-linear systems of equations, curves fitting, differentiation and integration of functions. The book is suitable for courses on robotics, mechatronics, sensing models, vehicles design and control, modelling, simulation, and mechanisms analysis. It is organised with 17 chapters divided in five parts that conceptualise classical mechanics to model a wide variety of applied robotics. It comprehends a hover-craft, an amphibious hexapod, self-reconfiguration and under-actuation of rolling and passive walking robots with Hoekens, Klann, and Jansen limbs for bipedal, quadruped, and octapod robots.
Download or read book Mobile Robotics written by Alonzo Kelly and published by Cambridge University Press. This book was released on 2013-11-11 with total page 717 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
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 Numerical Modeling and Simulation of Biomedical Devices and Underwater Biomimetic Robots written by Shrey Hitesh Shah and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Numerical simulations are essential in different fields of engineering for several types of analysis. They help in solving complex mathematical equations that govern the behavior of physical systems whose analytical solutions might be difficult to obtain. The simulations can be used in conjunction with the experimental results to compare, study and improve physical systems. This thesis focuses on the use of computational tools for three separate systems. The first one is a static structural finite element study of a self-expandable shape memory alloy (SMA) based stent. Different structures such as cantilever and coiled geometry are studied to characterize the SMA material. The SMA material is then applied to different stages of stent deployment. The behavior of a hyper elastic material such as silicone, which is used to mimic the behavior of human tissues and in the study of underwater soft robotics is also characterized and compared through different available models. The second and third parts of this study cover underwater flow simulations for an octopus and a jellyfish-like robots. In the octopus-like robot simulation, emphasis was given to the use of dynamic meshing techniques for underwater rigid motion to capture the flow behavior. Whereas, in the jellyfish simulation, attention was given to the use of fluid-structure interaction analysis, where the flapping movement of the soft jellyfish bell segment is coupled with the surrounding fluid domain to generate the required propulsion for forward motion. The study provides insightful information on the flow behavior of unique bioinspired underwater robots.
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 Robot Modelling written by Paul G. Ranky and published by Springer. This book was released on 1985 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a step-by-step survey of the theory and applications of industrial robots. It includes case studies, numerical examples, and sample robot programs. Robot Modeling develops a mathematical model that is general in purpose and applicable to any robot.
Download or read book Modeling and Control of Vehicular and Robotic Systems written by Sisil Kumarawadu and published by Alpha Science International, Limited. This book was released on 2009 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Control of Vehicular and Robotic Systems provides a comprehensive coverage of mathematical modeling and model-based control of autonomous vehicular and robotic systems based on three broad application areas, namely, rigid robot systems (with special emphasis on active vision heads, which are rare in contemporary literature), ground vehicles, and surface vehicles. Two main drawbacks of classical methods of model based controller synthesis and implementation, i.e. the need of an accurate knowledge of the dynamics that is a strong requirement in practice and velocity feedback of all degrees-of-freedom are thoroughly addressed. To overcome these deficiencies, design and implementation issues of online adaptive neural networks-based dynamic compensators and controller-observer systems have been included. The related issues of modeling, controller design, stability analysis, sensor requirements and options, and numerical simulations are also presented.
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 2017-12-14 with total page 503 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 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 Cells and Robots written by Dejan Lj. Milutinovic and published by Springer. This book was released on 2007-10-18 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph has arisen from the multidisciplinary research extending over biology, robotics and hybrid systems theory. It is inspired by modeling reactive behavior of the immune system cell population, where each cell is considered an independent agent. The authors formulate the optimal control of maximizing the probability of robotic presence in a given region and discuss the application of the Minimum Principle for partial differential equations to this problem.
Download or read book Flexible Robot Manipulators written by M. Osman Tokhi and published by IET. This book was released on 2008-05-20 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
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 Journey from Robot to Digital Human written by Edward Y L Gu and published by Springer Science & Business Media. This book was released on 2013-07-24 with total page 600 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLABTM codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLABTM, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Download or read book Robot Modeling and Control written by Mark W. Spong and published by John Wiley & Sons. This book was released on 2020-02-07 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis. With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ● Motion-planning, collision avoidance, trajectory optimization, and control of robots ● Popular topics within the robotics industry and how they apply to various technologies ● An expanded set of examples, simulations, problems, and case studies ● Open-ended suggestions for students to apply the knowledge to real-life situations A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.
Download or read book Advanced Dynamics Modeling Duality and Control of Robotic Systems written by Edward Y.L. Gu and published by CRC Press. This book was released on 2021-09-23 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures. In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.
Download or read book Theoretical Modelling and Numerical Simulations Toward Industry 4 0 written by Samsul Ariffin Abdul Karim and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical modeling and numerical simulations applied to drive several applications towards Industrial Revolution 4.0 (IR 4.0). The topics discussed range from theoretical parts to extensive simulations involving many efficient algorithms as well as various statistical techniques. This book is suitable for postgraduate students, researchers as well as other scientists who are working in mathematics, statistics and numerical modeling and simulation.
Download or read book Robot Modeling and Kinematics written by Rachid Manseur and published by . This book was released on 2006 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Modeling and Kinematics teaches the fundamental topics of robotics, using cutting-edge visualization software and computer tools to illustrate topics and provide a comprehensive process of teaching and learning. The book provides an introduction to robotics with an emphasis on the study of robotic arms, their mathematical description, and the equations describing their motion. It teaches how to model robotic arms efficiently and analyze their kinematics. The kinematics of robot manipulators is also presented beginning with the use of simple robot mechanisms and progressing to the most complex robot manipulator structures. While mathematically rigorous, the book's focus is on ease of understanding of the concepts with interactive animated computer graphics illustrations and modeling software that allow clear understanding of the material covered in the book. All necessary computations are concisely explained and software is provided that greatly eases the computational burden normally associated with robotics. Written for use in a robotics course or as a professional reference, Robot Modeling and Kinematics is an essential resource that provides a thorough understanding of the topics of modeling and kinematics.
