Download or read book Robot Control 2000 SYROCO 00 written by Peter Kopacek and published by . This book was released on 2001 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 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 Algorithms and Architectures for Real Time Control 2000 written by V. Hernandez and published by Pergamon. This book was released on 2000-12-04 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 6th IFAC Workshop on Algorithms and Architectures for Real-Time Control (AARTC'2000) was held at Palma de Mallorca, Spain. The objective, as in previous editions, was to show the state-of-the-art and to present new developments and research results in software and hardware for real-time control, as well as to bring together researchers, developers and practitioners, both from the academic and the industrial world. The AARTC'2000 Technical Program consisted of 11 presented sessions, covering the major areas of software, hardware and applications for real-time control. In particular, sessions adressed robotics, embedded systems, modeling and control, fuzzy logic methods, industrial process control and manufacturing systems, neural networks, parallel and distributed processing, processor architectures for control, software design tools and methodologies, and SCADA and multi-layer control. A total of 38 papers were selected from high-quality full draft papers and late breaking paper contributions (consisting of extended abstracts). Participants from 15 countries attended the AARTC'2000 workshop. The technical program also included two plenary talks given by leading experts in the field. Roger Goodall (Department of Electronic and Electrical Engineering, Loughborough University, UK) presented "Perspectives on processing for real-time control", and Ricardo Sanz (Universidad Politécnica de Madrid, Spain), focused on "CORBA for Control Systems". Another highlight in the program was the final session on industrial presentations which was held in common with the Workshop on Real-Time Programming (WRTP'2000). In this session, Abel Jiménez (Industria de Turbo Propulsores S. A., Spain) presented the "Thrust Vectoring System Control Concept", Ulrich Schmid (Technische Universität Wien, Austria) made a presentation with the title "Applied Research: A Scientist's Perspective", and Harold W. Lawson (Lawson Konsult AB, Sweden) addressed "Systems Engineering of a Successful Train Control System".

Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Download or read book Robot Control 2003 SYROCO 03 written by Ignacy Duleba and published by Elsevier. This book was released on 2004-04-03 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: SYROCO'2003 covered areas and aspects of robot control Topics: Robot control techniques (adaptive, robust, learning) Modeling and identification Control of discrete / continuous-time robotic systems Non-holonomic robotic systems Intelligent control Control based on sensing Control design and architectures Force and compliance control Grasp control Flexible robots Micro robots Mobile robots Walking robots Humanoid robots Teleoperation and man / machine dynamic systems Multi-Robot-Systems, cooperative robots Applications: space, underwater, civil engineering, surgery, entertainment, mining, etc. *Provides the latest research on Robotics *Contains contributions written by experts in the field. *Part of the IFAC Proceedings Series which provides a comprehensive overview of the major topics in control engineering.

Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.

Download or read book Mobile Robots written by Gerald Cook and published by John Wiley & Sons. This book was released on 2011-10-14 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: An important feature of this book is the particular combination of topics included. These are (1) control, (2) navigation and (3) remote sensing, all with application to mobile robots. Much of the material is readily extended to any type ground vehicle. In the controls area, robot steering is the issue. Both linear and nonlinear models are treated. Various control schemes are utilized, and through these applications the reader is introduced to methods such as: (1) Linearization and use of linear control design methods for control about a reference trajectory, (2) Use of Lyapunov stability theory for nonlinear control design, (3) Derivation of optimal control strategies via Pontryagin’s maximum principle, (4) Derivation of a local coordinate system which is fundamental for the steering of vehicles along a path never before traversed. This local coordinate system has application regardless of the control design methods utilized. In the navigation area, various coordinate systems are introduced, and the transformations among them are derived. (1) The Global Positioning System (GPS) is introduced and described in significant detail. (2) Also introduced and discussed are inertial navigation systems (INS). These two methods are treated in terms of their ability to provide vehicle position as well as attitude. A preceding chapter is devoted to coordinate rotations and transformations since they play an important role in the understanding of this body of theory.

Download or read book RAMSETE written by Salvatore Nicosia and published by Springer. This book was released on 2003-07-01 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.

Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background

Download or read book Human Robot Interaction written by Dan Zhang and published by Cambridge Scholars Publishing. This book was released on 2020-08-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces state-of-the-art technologies in the field of human-robot interactions. It details advances made in this field in recent decades, including dynamics, controls, design analysis, uncertainties, and modelling. The text will appeal to graduate students, practitioners and researchers in the fields of robotics, computer and cognitive science, and mechanical engineering.

Download or read book Prototyping of Robotic Systems Applications of Design and Implementation written by Sobh, Tarek and published by IGI Global. This book was released on 2012-02-29 with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt: As a segment of the broader science of automation, robotics has achieved tremendous progress in recent decades due to the advances in supporting technologies such as computers, control systems, cameras and electronic vision, as well as micro and nanotechnology. Prototyping a design helps in determining system parameters, ranges, and in structuring an overall better system. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Prototyping of Robotic Systems: Applications of Design and Implementation provides a framework for conceptual, theoretical, and applied research in robotic prototyping and its applications. Covering the prototyping of various robotic systems including the complicated industrial robots, the tiny and delicate nanorobots, medical robots for disease diagnosis and treatment, as well as the simple robots for educational purposes, this book is a useful tool for those in the field of robotics prototyping and as a general reference tool for those in related fields.

Download or read book Advances in Robot Control written by Sadao Kawamura and published by Springer Science & Business Media. This book was released on 2007-07-17 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Download or read book Information and Software Technologies written by Tomas Skersys and published by Springer. This book was released on 2013-11-13 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 18th International Conference on Information and Software Technologies, ICIST 2012, held in Kaunas, Lithuania, in September 2012. The 40 revised full papers presented were carefully reviewed and selected from 81 submissions. The papers are organized in topical sections on artificial intelligence and knowledge engineering, business process modelling, analysis and design, formal analysis and design methods, information and software systems engineering, information technology applications and computer networks, information technology in teaching and learning, ontology, conceptual modelling and databases, requirements engineering and business rules.

Download or read book RoboCup 2005 Robot Soccer World Cup IX written by Ansgar Bredenfeld and published by Springer. This book was released on 2006-06-25 with total page 742 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the ninth official archival publication devoted to RoboCup, documenting presentations at the RoboCup 2005 International Symposium, held in Osaka, Japan, July 2005 alongside the RoboCup Competition. The book presents 34 revised full papers and 38 revised short papers together with two award-winning papers. This is a valuable source of reference and inspiration for those interested in robotics or distributed intelligence, and mandatory reading for the rapidly growing RoboCup community.

Download or read book Robot Manipulators written by Marco Ceccarelli and published by BoD – Books on Demand. This book was released on 2008-09-01 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.