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 Space Robotics Dynamics and Control written by Yangsheng Xu and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face. The other benefit is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle, or satellite). Any inefficiency in the planning and control can considerably risk by success of the space mission. Space Robotics: Dynamics and Control presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focussing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control, and astronautical science.

Download or read book Robotics written by King Sun Fu and published by Tata McGraw-Hill Education. This book was released on 1987 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Robotic Systems for Space Exploration written by Alan A. Desrochers and published by Springer Science & Business Media. This book was released on 1992-02-29 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In this environment, intelligent automation and robotics are essential complements to the capabilities of humans. In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Future missions will require the construction, maintenance, and repair of large structures, such as the space station. This volume presents the effords of several groups that are working on robotic solutions to this problem. Much of the work in this book is related to assembly in space, and especially in-orbit assembly of large truss structures. Many of these so-called truss structures will be assembled in orbit. It is expected that robot manipulators will be used exclusively, or at least provide partial assistance to humans. Intelligent Robotic Systems for Space Exploration provides detailed algorithms and analysis for assembly of truss structure in space. It reports on actual implementations to date done at NASA's Langley Research Center. The Johnson Space Center, and the Jet Propulsion Laboratory. Other implementations and research done at Rensselaer are also reported. Analysis of robot control problems that are unique to a zero-gravity environment are presented.

Download or read book Trajectory Planning for Automatic Machines and Robots written by Luigi Biagiotti and published by Springer Science & Business Media. This book was released on 2008-10-23 with total page 515 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.

Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book Robotics in Smart Manufacturing written by Pedro Neto and published by Springer. This book was released on 2013-06-12 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the International Workshop on Robotics in Smart Manufacturing, WRSM 2013, held in Porto, Portugal, in June 2013. The 20 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers address issues such as robotic machining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent warehouses, robot co-workers and application of robots in the textile industry.

Download or read book Motion Planning for Humanoid Robots written by Kensuke Harada and published by Springer Science & Business Media. This book was released on 2010-08-12 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Download or read book Space Robotics written by Yaobing Wang and published by Springer Nature. This book was released on 2020-09-10 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with basic concepts and design theories for space robots and presents essential methodologies for implementing space robot engineering by introducing several concrete projects as illustrative examples. Readers will gain a comprehensive understanding of professional theories in the field of space robots, and will find an initial introduction to the engineering processes involved in developing space robots. Rapid advances in technologies such as the Internet of Things, Cloud Computing, and Artificial Intelligence have also produced profound changes in space robots. With the continuous expansion of human exploration of the universe, it is imperative for space robots to be capable of sharing knowledge, working collaboratively, and becoming more and more intelligent so as to optimize the utilization of space resources. For on-orbit robots that perform service tasks such as spacecraft assembly and maintenance, as well as exploration robots that carry out research tasks on planetary surfaces, the rational integration into a network system can greatly improve their capabilities in connection with executing outer space tasks, such as information gathering and utilization, independent decision-making and planning, risk avoidance, and reliability, while also significantly reducing resource consumption for the system as a whole.

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 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 Multiobjective Optimization written by Jürgen Branke and published by Springer. This book was released on 2008-10-18 with total page 481 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multiobjective optimization deals with solving problems having not only one, but multiple, often conflicting, criteria. Such problems can arise in practically every field of science, engineering and business, and the need for efficient and reliable solution methods is increasing. The task is challenging due to the fact that, instead of a single optimal solution, multiobjective optimization results in a number of solutions with different trade-offs among criteria, also known as Pareto optimal or efficient solutions. Hence, a decision maker is needed to provide additional preference information and to identify the most satisfactory solution. Depending on the paradigm used, such information may be introduced before, during, or after the optimization process. Clearly, research and application in multiobjective optimization involve expertise in optimization as well as in decision support. This state-of-the-art survey originates from the International Seminar on Practical Approaches to Multiobjective Optimization, held in Dagstuhl Castle, Germany, in December 2006, which brought together leading experts from various contemporary multiobjective optimization fields, including evolutionary multiobjective optimization (EMO), multiple criteria decision making (MCDM) and multiple criteria decision aiding (MCDA). This book gives a unique and detailed account of the current status of research and applications in the field of multiobjective optimization. It contains 16 chapters grouped in the following 5 thematic sections: Basics on Multiobjective Optimization; Recent Interactive and Preference-Based Approaches; Visualization of Solutions; Modelling, Implementation and Applications; and Quality Assessment, Learning, and Future Challenges.

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 Dynamics and Control of Autonomous Space Vehicles and Robotics written by Ranjan Vepa and published by Cambridge University Press. This book was released on 2019-05-02 with total page 371 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Download or read book Automated Rendezvous and Docking of Spacecraft written by Wigbert Fehse and published by Cambridge University Press. This book was released on 2003-11-13 with total page 517 pages. Available in PDF, EPUB and Kindle. Book excerpt: The definitive reference for space engineers on rendezvous and docking/berthing (RVD/B) related issues, this book answers key questions such as: How does the docking vehicle accurately approach the target spacecraft? What technology is needed aboard the spacecraft to perform automatic rendezvous and docking, and what systems are required by ground control to supervise this process? How can the proper functioning of all rendezvous-related equipment, systems and operations be verified before launch? The book provides an overview of the major issues governing approach and mating strategies, and system concepts for rendezvous and docking/berthing. These issues are described and explained such that aerospace engineers, students and even newcomers to the field can acquire a basic understanding of RVD/B. The author would like to extend his thanks to Dr Shufan Wu, GNC specialist and translator of the book's Chinese edition, for his help in the compilation of these important errata.