Download or read book Towards Modular Cooperation Between Multiple Nonholonomic Mobile Manipulators written by Rajankumar M. Bhatt and published by . This book was released on 2007 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single robot or when there are distinct benefits that accrue by cooperation of many simple robotic modules. In this dissertation, we examine these aspects in the context of cooperative payload manipulation and transport by wheeled mobile module collectives with tightly-coupled dynamics arising from the physical interactions between various modules.

Download or read book Fundamentals in Modeling and Control of Mobile Manipulators written by Zhijun Li and published by CRC Press. This book was released on 2016-04-19 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.

Download or read book Dissertation Abstracts International written by and published by . This book was released on 2007 with total page 924 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Control Framework for Cooperative Mobile Robot Collectives written by Chin Pei Tang and published by . This book was released on 2009 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation examines development of a framework to achieve cooperative payload transport and manipulation by teams of multiple wheeled mobile robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent, or when there are distinct benefits in terms of redundancy, robustness and reliability that accrue by many simple cooperative robotic modules. However, the mechanical capability of both the individual modules as well as their interactions can significantly affect the overall system performance.^Hence, we address various fundamental issues in terms of the design analysis, motion planning and control to equip the robotic modules with mechanical level system-based thinking to realize the physically tight cooperative payload transport task. We begin by the preliminary investigation of the development and evaluation of alternate distributed formulations for dynamic simulation of constrained multibody systems. Two computation methods are compared and evaluated in detailed using the benchmark problem of a four-bar linkage. Although the examination is preliminary, the contribution of this work is to establish a framework to simulate larger cooperative systems with more constraints in a distributed manner. We then investigate the optimal relative layout for members of a team of differentially-driven wheeled mobile robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload transport tasks.^The contribution of this work is on the modeling of such formation and the development of the optimal motion plans in an "energy efficient" manner globally over a prescribed trajectory using the tools from differential geometry. This work provides the global optimal motion plans that improves the formal local optimization framework presented in [1], which results in smoother collective maneuvers. However, the various individual modules contribute both constraints and capabilities to the cooperative system. Thus, we also seek to examine the performance of such cooperative system composed from the capabilities of the individual wheeled mobile manipulator agents using the tools from screw theory. We argue that a proper design can provide the cooperative system capabilities to: (a) accommodate/create arbitrary payload motions, and (b) support/resist arbitrary payload forces.^The contribution of this work is to carefully examine the system level performance in terms of reconfigurability and actuation requirements. Finally, we examine the use of differential flatness to provide a convenient and formal method to integrate both (point-to-point) motion planning and control of nonholonomic mobile robot systems. The contribution of this work is to develop such control framework for wheeled mobile manipulators and evaluated in the hardware-in-the-loop experimental framework.

Download or read book Intelligent Robotics and Applications written by Ming Xie and published by Springer. This book was released on 2009-12-16 with total page 1315 pages. Available in PDF, EPUB and Kindle. Book excerpt: The market demands for skills, knowledge and personalities have positioned robotics as an important field in both engineering and science. To meet these challenging - mands, robotics has already seen its success in automating many industrial tasks in factories. And, a new era will come for us to see a greater success of robotics in n- industrial environments. In anticipating a wider deployment of intelligent and auto- mous robots for tasks such as manufacturing, eldercare, homecare, edutainment, search and rescue, de-mining, surveillance, exploration, and security missions, it is necessary for us to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. After the success of the inaugural conference, the purpose of the Second Inter- tional Conference on Intelligent Robotics and Applications was to provide a venue where researchers, scientists, engineers and practitioners throughout the world could come together to present and discuss the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. In particular, the emphasis of this year’s conference was on “robot intelligence for achieving digital manufact- ing and intelligent automations. ” This volume of Springer’s Lecture Notes in Artificial Intelligence and Lecture Notes in Computer Science contains accepted papers presented at ICIRA 2009, held in Singapore, December 16–18, 2009. On the basis of the reviews and recommendations by the international Program Committee members, we decided to accept 128 papers having technical novelty, out of 173 submissions received from different parts of the world.

Download or read book Simultaneous Motion and Interaction Force Control of a Nonholonomic Mobile Manipulator written by and published by . This book was released on 2006 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis we focus on the problem of combined motion and force control of a nonholonomic mobile manipulator system. The mobile manipulator under consideration consists of a differentially-driven mobile base with a planar two-link manipulator mounted on top. Both the mobile base and the two-link manipulator operate in the horizontal plane. Such a combination of a mobile base and manipulator provides for a larger workspace and a broader set of capabilities to manipulate the motions and forces with the environment. However, such systems also feature considerable redundancy which needs to be effectively resolved in order to achieve these goals. We first develop a kinematic model of the mobile manipulator system and formulate the nonholonomic wheel constraints. Next we develop the dynamic mathematical model of the system using the energy-based constrained Lagrange dynamic modeling technique. This dynamic model serves as the basis for subsequent dynamic control and becomes the virtual prototype for control-law simulation/validation.

Download or read book Dynamics and Control for Nonholonomic Mobile Modular Manipulators written by Yangmin Li and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter, 3-wheeled nonholonomic mobile modular manipulators are investigated. First, an integrated modelling method is proposed in consideration of the nonholonomic constraints and the interactive motions. Second, a model based controller and a robust adaptive controller are presented in task space directly. Third, simulations are carried out on a mobile modular manipulator composed of a 3-wheeled mobile platform and a 4-DOF onboard modular manipulator, and the simulation results demonstrate the effectiveness of the proposed algorithms. The proposed algorithms can be easily extended to some other mobile manipulators as well.

Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Download or read book Experimental Robotics VI written by Peter I. Corke and published by Springer Science & Business Media. This book was released on 1999-10-22 with total page 556 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.

Download or read book Advances in Reconfigurable Mechanisms and Robots I written by Jian S Dai and published by Springer Science & Business Media. This book was released on 2012-06-13 with total page 849 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in Reconfigurable Mechanisms and Robots I provides a selection of key papers presented in The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) held on 9th -11th July 2012 in Tianjin, China. This ongoing series of conferences will be covered in this ongoing collection of books. A total of seventy-eight papers are divided into seven parts to cover the topology, kinematics and design of reconfigurable mechanisms with the reconfiguration theory, analysis and synthesis, and present the current research and development in the field of reconfigurable mechanisms including reconfigurable parallel mechanisms. In this aspect, the recent study and development of reconfigurable robots are further presented with the analysis and design and with their control and development. The bio-inspired mechanisms and subsequent reconfiguration are explored in the challenging fields of rehabilitation and minimally invasive surgery. Advances in Reconfigurable Mechanisms and Robots I further extends the study to deployable mechanisms and foldable devices and introduces applications of reconfigurable mechanisms and robots. The rich-content of Advances in Reconfigurable Mechanisms and Robots I brings together new developments in reconfigurable mechanisms and robots and presents a new horizon for future development in the field of reconfigurable mechanisms and robots.

Download or read book Intelligent Production Machines and Systems 2nd I PROMS Virtual International Conference 3 14 July 2006 written by Duc T. Pham and published by Elsevier. This book was released on 2011-07-28 with total page 685 pages. Available in PDF, EPUB and Kindle. Book excerpt: I*PROMS 2005 is an online web-based conference. It provides a platform for presenting, discussing, and disseminating research results contributed by scientists and industrial practitioners active in the area of intelligent systems and soft computing techniques (such as fuzzy logic, neural networks, evolutionary algorithms, and knowledge-based systems) and their application in different areas of manufacturing. Comprised of 100 peer-reviewed articles, this important resource provides tools to help enterprises achieve goals critical to the future of manufacturing. I*PROMS is an European Union-funded network that involves 30 partner organizations and more than 130 researchers from universities, research organizations, and corporations. * State-of-the-art research results * Leading European researchers and industrial practitioners * Comprehensive collection of indexed and peer-reviewed articles in book format supported by a user-friendly full-text CD-ROM with search functionality

Download or read book Applied Mechanics Reviews written by and published by . This book was released on 2000 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Coordinated Control of a Mobile Manipulator written by Yoshio Yamamoto and published by . This book was released on 1994 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "In this technical report, we investigate modeling, control, and coordination of mobile manipulators. A mobile manipulator in this study consists of a robotic manipulator and a mobile platform, with the manipulator being mounted atop the mobile platform. A mobile manipulator combines the dextrous manipulation capability offered by fixed- base manipulators and the mobility offered by mobile platforms. While mobile manipulators offer a tremendous potential for flexible material handling and other tasks, at the same time they bring about a number of challenging issues rather than simply increasing the structural complexity. First, combining a manipulator and a platform creates redundancy. Second, a wheeled mobile platform is subject to nonholonomic constraints. Third, there exists dynamic interaction between the manipulator and the mobile platform. Fourth, manipulators and mobile platforms have different bandwidths. Mobile platforms typically have slower dynamic response than manipulators. The objective of the thesis is to develop control algorithms that effectively coordinate manipulation and mobility of mobile manipulators. We begin with deriving the motion equations of mobile manipulators. The derivation presented here makes use of the existing motion equations of manipulators and mobile platforms, and simply introduces the velocity and acceleration dependent terms that account for the dynamic interaction between manipulators and mobile platforms. Since nonholonomic constraints play a critical role in control of mobile manipulators, we then study the control properties of nonholonomic dynamic systems, including feedback linearization and internal dynamics. Based on the newly proposed concept of preferred operating region, we develop a set of coordination algorithms for mobile manipulators. While the manipulator performs manipulation tasks, the mobile platform is controlled to always bring the configuration of the manipulator into a preferred operating region. The control algorithms for two types of tasks -- dragging motion and following motion -- are discussed in detail. The effects of dynamic interaction are also investigated. To verify the efficacy of the coordination algorithms, we conduct numerical simulations with representative task trajectories. Additionally, the control agorithms for the dragging motion and following motion have been implemented on an experimental mobile manipulator. The results from the simulation and experiment are presented to support the proposed control algorithms."

Download or read book Robotics Research Trends written by Xing P. Guô and published by Nova Publishers. This book was released on 2008 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics began as a science fiction creation which has become quite real, first in assembly line operations such as automobile manufacturing, aeroplane construction etc. They have now reached such areas as the internet, ever-multiplying-medical uses and sophisticated military applications. Control of today's robots is often remote which requires even more advanced computer vision capabilities as well as sensors and interface techniques. Learning has become crucial for modern robotic systems as well. This new book presents the latest research in the field.

Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Science & Business Media. This book was released on 2010-10-27 with total page 794 pages. Available in PDF, EPUB and Kindle. Book excerpt: The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 994 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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.