Download or read book Control of Underactuated Manipulators written by Jundong Wu and published by Springer Nature. This book was released on 2023-05-13 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Download or read book Dynamics and Control of Underactuated Manipulators written by Marcel Bergerman and published by . This book was released on 1996 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Control of Underactuated Manipulators Analysis and Implementation written by Marcel Bergerman and published by . This book was released on 1994 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated manipulators are robot manipulators composed of both active and passive joints. The advantages of using such systems reside in the fact that they weight less and consume less energy than their fully-actuated counterparts, thus being useful for applications such as space robotics. Another interest reside in the reliability or fault-tolerant design of fully-actuated manipulators. If any of the joint actuators of such a device fails, an entire operation may have to be aborted because of the loss of one or more degrees of freedom. The methodology proposed in this paper uses the dynamic coupling between the passive joints and the active joints, and controls the active ones in order to bring the passive joint angles to a desired set-point. Therefore, the control law and the performance of the system are completely dependent on the dynamic model. Since it is difficult to obtain the exact dynamic model of the system in general, considerable position errors and even instability can result in some cases. In this paper, we propose a variable structure controller to provide the system with the robustness necessary to perform tasks regardless of the modelling errors. Case studies are provided as a mean of illustration.
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 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.
Download or read book Actuability of Underactuated Manipulators written by Christopher Lee and published by . This book was released on 1994 with total page 25 pages. Available in PDF, EPUB and Kindle. Book excerpt: This investigation is significant for the design and control of an underactuated robot system."
Download or read book Experimental Study of an Underactuated Manipulator written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1995 with total page 18 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U- ARM, or UnderActuated Robot Manipulator. In this report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM."
Download or read book Experimental Study of an Underactuated Manipulator written by Carnegie Mellon University. Robotics Institute and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental setup known as U- ARM, or UnderActuated Robot Manipulator. In this report, we present the hardware development, dynamic parameters derivation, control software and experimental results of real-time control of U-ARM."
Download or read book Control of an Underactuated Two link Manipulator written by Sheri Anne Coates and published by . This book was released on 1996 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Download or read book Underactuated Robotic Hands written by Lionel Birglen and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
Download or read book Comparative Study of Control Strategies for Underactuated Manipulator written by Joudeh Yasin Abed and published by . This book was released on 2006 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Underactuated mechanical systems are systems with fewer control inputs (actuators) than degrees of freedom. They arise in many applications such as underwater robots, mobile robots and manipulators with passive joints. This thesis considers two-link manipulator with one active joint at shoulder and develops various control strategies for stabilizing the manipulator at the upright position."--Abstract, p. iii.
Download or read book Robust Control of Robots written by Adriano A. G. Siqueira and published by Springer Science & Business Media. This book was released on 2011-08-14 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
Download or read book Robotics Research written by John M. Hollerbach and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the proceedings of the 9th International Symposium of Robotics Research, one of the oldest and most prestigious conferences in robotics. The goal of the symposium was to bring together active, leading robotics researchers from academia, government and industry, to define the state of the art of robotics and its future direction. The broad spectrum of robotics research is covered, with an eye on what will be important in robotics in the next millennium.
Download or read book Dynamic Coupling of Underactuated Manipulators written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1994 with total page 29 pages. Available in PDF, EPUB and Kindle. Book excerpt: We discuss extensively the nature of the dynamic coupling and of the proposed coupling index, and their applications in the analysis and design of underactuated systems, and in control and planning of robot motion configuration."
Download or read book Dynamic Coupling of Underactuated Manipulators written by Carnegie Mellon University. Robotics Institute and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: We discuss extensively the nature of the dynamic coupling and of the proposed coupling index, and their applications in the analysis and design of underactuated systems, and in control and planning of robot motion configuration."
Download or read book NASA Tech Briefs written by and published by . This book was released on 1994 with total page 1144 pages. Available in PDF, EPUB and Kindle. Book excerpt:
