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 Towards Safe Robots written by Sami Haddadin and published by Springer. This book was released on 2013-09-12 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factors that cause human injuries. This assessment is the basis for the design and exploration of various measures to improve safety in human-robot interaction. They range from control schemes for collision detection, reflex reaction, and avoidance to the investigation of novel joint designs that equip robots with fundamentally new capabilities. By the depth of its analysis and exceptionally salient experimental work, this monograph offers one of the most comprehensive treatments of the safety challenge in the field.

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 Rigid Body Dynamics Algorithms written by Roy Featherstone and published by Springer. This book was released on 2014-11-10 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Download or read book Medical Image Computing and Computer Assisted Intervention MICCAI 2003 written by Randy E. Ellis and published by Springer. This book was released on 2003-10-25 with total page 851 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 6th International Conference on Medical Imaging and Computer-Assisted Intervention,MICCAI2003,washeldinMontr ́ eal,Qu ́ ebec,CanadaattheF- rmont Queen Elizabeth Hotel during November 15–18, 2003. This was the ?rst time the conference had been held in Canada. The proposal to host MICCAI 2003 originated from discussions within the Ontario Consortium for Ima- guided Therapy and Surgery, a multi-institutional research consortium that was supported by the Government of Ontario through the Ontario Ministry of E- erprise, Opportunity and Innovation. The objective of the conference was to o?er clinicians and scientists a - rum within which to exchange ideas in this exciting and rapidly growing ?eld. MICCAI 2003 encompassed the state of the art in computer-assisted interv- tions, medical robotics, and medical-image processing, attracting experts from numerous multidisciplinary professions that included clinicians and surgeons, computer scientists, medical physicists, and mechanical, electrical and biome- cal engineers. The quality and quantity of submitted papers were most impressive. For MICCAI 2003 we received a record 499 full submissions and 100 short c- munications. All full submissions, of 8 pages each, were reviewed by up to 5 reviewers, and the 2-page contributions were assessed by a small subcomm- tee of the Scienti?c Review Committee. All reviews were then considered by the MICCAI 2003 Program Committee, resulting in the acceptance of 206 full papers and 25 short communications. The normal mode of presentation at MICCAI 2003 was as a poster; in addition, 49 papers were chosen for oral presentation.

Download or read book Fuzzy Control written by Kevin M. Passino and published by Prentice Hall. This book was released on 1998 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Fuzzy control: the basics; Case studies in design and implementation; nonlinear analysis; Fuzzy identification and estimation; Adaptive fuzzy control; Fuzzy supervisory control; Perspectives on fuzzy control.

Download or read book Electric Drives and Electromechanical Systems written by Richard Crowder and published by Butterworth-Heinemann. This book was released on 2019-10-19 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electric Drives and Electromechanical Devices: Applications and Control, Second Edition, presents a unified approach to the design and application of modern drive system. It explores problems involved in assembling complete, modern electric drive systems involving mechanical, electrical, and electronic elements. This book provides a global overview of design, specification applications, important design information, and methodologies.This new edition has been restructured to present a seamless, logical discussion on a wide range of topical problems relating to the design and specification of the complete motor-drive system. It is organised to establish immediate solutions to specific application problem. Subsidiary issues that have a considerable impact on the overall performance and reliability, including environmental protection and costs, energy efficiency, and cyber security, are also considered. - Presents a comprehensive consideration of electromechanical systems with insights into the complete drive system, including required sensors and mechanical components - Features in-depth discussion of control schemes, particularly focusing on practical operation - Includes extensive references to modern application domains and real-world case studies, such as electric vehicles - Considers the cyber aspects of drives, including networking and security

Download or read book Proceedings of the 4th International Conference on Electrical Engineering and Control Applications written by Sofiane Bououden and published by Springer Nature. This book was released on 2020-09-29 with total page 1257 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers papers presented during the 4th International Conference on Electrical Engineering and Control Applications. It covers new control system models, troubleshooting tips and complex system requirements, such as increased speed, precision and remote capabilities. Additionally, the papers discuss not only the engineering aspects of signal processing and various practical issues in the broad field of information transmission, but also novel technologies for communication networks and modern antenna design. This book is intended for researchers, engineers and advanced postgraduate students in the fields of control and electrical engineering, computer science and signal processing, as well as mechanical and chemical engineering.

Download or read book Electric Machines written by Hamid A. Toliyat and published by CRC Press. This book was released on 2017-12-19 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: With countless electric motors being used in daily life, in everything from transportation and medical treatment to military operation and communication, unexpected failures can lead to the loss of valuable human life or a costly standstill in industry. To prevent this, it is important to precisely detect or continuously monitor the working condition of a motor. Electric Machines: Modeling, Condition Monitoring, and Fault Diagnosis reviews diagnosis technologies and provides an application guide for readers who want to research, develop, and implement a more effective fault diagnosis and condition monitoring scheme—thus improving safety and reliability in electric motor operation. It also supplies a solid foundation in the fundamentals of fault cause and effect. Combines Theoretical Analysis and Practical Application Written by experts in electrical engineering, the book approaches the fault diagnosis of electrical motors through the process of theoretical analysis and practical application. It begins by explaining how to analyze the fundamentals of machine failure using the winding functions method, the magnetic equivalent circuit method, and finite element analysis. It then examines how to implement fault diagnosis using techniques such as the motor current signature analysis (MCSA) method, frequency domain method, model-based techniques, and a pattern recognition scheme. Emphasizing the MCSA implementation method, the authors discuss robust signal processing techniques and the implementation of reference-frame-theory-based fault diagnosis for hybrid vehicles. Fault Modeling, Diagnosis, and Implementation in One Volume Based on years of research and development at the Electrical Machines & Power Electronics (EMPE) Laboratory at Texas A&M University, this book describes practical analysis and implementation strategies that readers can use in their work. It brings together, in one volume, the fundamentals of motor fault conditions, advanced fault modeling theory, fault diagnosis techniques, and low-cost DSP-based fault diagnosis implementation strategies.

Download or read book Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems written by Bekkay Hajji and published by Springer Nature. This book was released on 2020-08-14 with total page 858 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes papers presented at the Second International Conference on Electronic Engineering and Renewable Energy (ICEERE 2020), which focus on the application of artificial intelligence techniques, emerging technology and the Internet of things in electrical and renewable energy systems, including hybrid systems, micro-grids, networking, smart health applications, smart grid, mechatronics and electric vehicles. It particularly focuses on new renewable energy technologies for agricultural and rural areas to promote the development of the Euro-Mediterranean region. Given its scope, the book is of interest to graduate students, researchers and practicing engineers working in the fields of electronic engineering and renewable energy.

Download or read book Control of Machines with Friction written by Brian Armstrong-Hélouvry and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is the discipline that concerns itself with friction, wear and lubrication. Tribology spans a great range of disciplines, from surface physics to lubrication chemistry and engineering, and comprises investigators in diverse specialities. The English language tribology literature now grows at a rate of some 700 articles per year. But for all of this activity, in the three years that I have been concerned with the control of machines with friction, I have but once met a fellow controls engineer who was aware that the field existed, this including many who were concerned with friction. In this vein I must confess that, before undertaking these investigations, I too was unaware that an active discipline of friction existed. The experience stands out as a mark of the specialization of our time. Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest is in dynamics, which is not the central interest of the tribologist. The tribologist is more often concerned with wear, with respect to which there has been enormous progress - witness the many mechanisms which we buy today that are lubricated once only, and that at the factory. Though a secondary interest, frictional dynamics are note forgotten by tribology.

Download or read book Technological Developments in Education and Automation written by Magued Iskander and published by Springer Science & Business Media. This book was released on 2010-01-30 with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt: Technological Developments in Education and Automation includes set of rigorously reviewed world-class manuscripts dealing with the increasing role of technology in daily lives including education and industrial automation Technological Developments in Education and Automation contains papers presented at the International Conference on Industrial Electronics, Technology & Automation and the International Conference on Engineering Education, Instructional Technology, Assessment, and E-learning which were part of the International Joint Conferences on Computer, Information and Systems Sciences and Engineering

Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Download or read book Advanced Human Robot Collaboration in Manufacturing written by Lihui Wang and published by Springer Nature. This book was released on 2021-06-10 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents state-of-the-art research, challenges and solutions in the area of human–robot collaboration (HRC) in manufacturing. It enables readers to better understand the dynamic behaviour of manufacturing processes, and gives more insight into on-demand adaptive control techniques for industrial robots. With increasing complexity and dynamism in today’s manufacturing practice, more precise, robust and practical approaches are needed to support real-time shop-floor operations. This book presents a collection of recent developments and innovations in this area, relying on a wide range of research efforts. The book is divided into five parts. The first part presents a broad-based review of the key areas of HRC, establishing a common ground of understanding in key aspects. Subsequent chapters focus on selected areas of HRC subject to intense recent interest. The second part discusses human safety within HRC. The third, fourth and fifth parts provide in-depth views of relevant methodologies and algorithms. Discussing dynamic planning and monitoring, adaptive control and multi-modal decision making, the latter parts facilitate a better understanding of HRC in real situations. The balance between scope and depth, and theory and applications, means this book appeals to a wide readership, including academic researchers, graduate students, practicing engineers, and those within a variety of roles in manufacturing sectors.

Download or read book Proceedings of 5th International Conference on the Industry 4 0 Model for Advanced Manufacturing written by Lihui Wang and published by Springer Nature. This book was released on 2020-05-15 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 5th International Conference on the Industry 4.0 Model for Advanced Manufacturing (AMP 2020), held in Belgrade, Serbia, on 1–4 June 2020. The event marks the latest in a series of high-level conferences that bring together experts from academia and industry to exchange knowledge, ideas, experiences, research findings, and information in the field of manufacturing. The book addresses a wide range of topics, including: design of smart and intelligent products, developments in CAD/CAM technologies, rapid prototyping and reverse engineering, multistage manufacturing processes, manufacturing automation in the Industry 4.0 model, cloud-based products, and cyber-physical and reconfigurable manufacturing systems. By providing updates on key issues and highlighting recent advances in manufacturing engineering and technologies, the book supports the transfer of vital knowledge to the next generation of academics and practitioners. Further, it will appeal to anyone working or conducting research in this rapidly evolving field.

Download or read book Telexistence written by Susumu Tachi and published by World Scientific. This book was released on 2010 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Telexistence is a fundamental concept which refers to the general technology that enables a human being to have a real-time sensation of being at a place other than where he or she actually exists, while being able to interact with the remote environment, which may be real, virtual, or a combination of both. It also refers to an advanced type of teleoperation system that enables an operator at the control to perform remote tasks dexterously with the feeling of existing in a surrogate robot working in a remote environment. Telexistence in the real remote environment through a virtual environment is also possible. This book is the first book on telexistence written by the inventor of the concept of this emerging technology. It introduces the concept of telexistence, explains how this concept can be realized, illustrates precisely real examples of the realization of the concept, and determines its future advancement."--Publisher's web site.