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 Robot Manipulators written by Richard P. Paul and published by Richard Paul. This book was released on 1981 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
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 Fractional Modeling and Controller Design of Robotic Manipulators written by Abhaya Pal Singh and published by Springer Nature. This book was released on 2020-10-15 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.
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 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 Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Download or read book Interaction Control of Robot Manipulators written by Ciro Natale and published by Springer. This book was released on 2003-09-05 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.
Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Download or read book Aerial Robotic Manipulation written by Anibal Ollero and published by Springer. This book was released on 2019-06-27 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Download or read book Fundamentals for Control of Robotic Manipulators written by Antti J. Koivo and published by . This book was released on 1989 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Advanced Studies of Flexible Robotic Manipulators written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Repetitive Motion Planning and Control of Redundant Robot Manipulators written by Yunong Zhang and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
Download or read book Task Space Sensory Feedback Control of Robot Manipulators written by Chien Chern Cheah and published by Springer. This book was released on 2015-04-09 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
