Download or read book Safe Motion Planning and Control for Robotic Manipulators written by Bakir Lacevic and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Repetitive Motion Planning and Control of Redundant Robot Manipulators written by Yunong Zhang and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
Download or read book On Motion Planning and Control of Multi link Lightweight Robotic Manipulators written by Sabri Cetinkunt and published by . This book was released on 1987 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Download or read book Task Based Global Motion Planning of Multiple Manipulators in Time varying Environments written by Achint Aggarwal and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotics is clearly seen to be heading towards a world in which humans and robots can exist together safely and coherently be it in industries, households or battlefields. The primary obstacle for this harmonistic coexistence is the inability of robots to interact effectively and safely with the environment. Human machine interaction still seems to be far off until the development of effective and reliable robots that understand their environment and interact with it safely. The application of robots in industrial environments has over the last two decades received a significant impetus, such that the robots can now perform pre-programmed and repetitive low-valued tasks almost to perfection. However, the need of the hour is to make robots go beyond this level and practically start augmenting human capability and reducing human drudgery even outside the factory floor. This makes robot motion planning one of the most important areas in robotics research. Without a motion planner for manipulators and mobile robots, human operators have to constantly monitor and define their detailed motion. An automatic motion planner will relieve the operators from this tedious job and enable them to exercise control at a supervisory level. This in turn, increases efficiency by eliminating human errors. Further, path planning can be considered to be the backbone of any motion planning algorithm. An efficient path planner with added performance criteria and constraints makes an efficient motion planner. This specific research effort of developing a motion planner falls within the broader goal of developing a safety architecture that enables high performance intelligent machines that coexist and cooperate safely with other systems and humans. A large body of research in the area of robotics focuses on the path planning of mobile robots while the manipulators' ability to effectively operate autonomously in cluttered and dynamically changing environments stays relatively under explored. This work will rely on the past achievements in collision detection, obstacle avoidance and motion planning of the Robotics Research Group (RRG) at the University of Texas at Austin (UT Austin). This area of research offers chances for a wide breadth of advancement in robotics as it can be applied to traditional stationary robots, both redundant and non-redundant manipulators, as well as to mobile manipulators where both the path of the manipulator itself and the path of the manipulator's mobile base must be accounted for when attempting to plan collision free paths.
Download or read book Safe Motion Planning Under Uncertainty for Mobile Manipulators in Unknown Environments written by Vinay Kumar Pilania and published by . This book was released on 2015 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a mobile manipulator to operate and perform useful tasks in human-centered environments, it is important to work toward the realization of robust motion planners that incorporate uncertainty inherent in robot's control and sensing and provide safe motion plans for reliable robot operation. Designing such planners pose a significant challenge because of computational complexity associated with mobile manipulator planning and planning under uncertainty. Current planning approaches for mobile manipulation are often conservative in nature and the uncertainty is largely ignored. In this thesis, we propose sampling-based efficient and robust mobile manipulator planners that use smart strategies to deal with computational complexity and incorporate uncertainty to generate safer plans. The first part of the research addresses the design of an efficient planner for deterministic case, where robot state is fully known, and then subsequent extension to incorporate base pose uncertainty. In the first part, we propose a Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans both for the base and the arm in a judicious manner - allowing the manipulator to change its configuration autonomously when needed if the current arm configuration is in collision with the environment as the mobile manipulator moves along the planned path. We show that HAMP is probabilistically complete. We then propose an extension of HAMP (HAMP-U) to account for localization uncertainty associated with the mobile base position. The advantages of our planners are illustrated and discussed. The second part of the research deals with the computational complexity involved in planning under uncertainty. For that, we propose localization aware sampling and connection strategies that help to reduce the planning time significantly with little compromise on the quality of path. In the third part, we learnt from the shortcomings of HAMP-U and took advantage of our smart strategies developed to combat the computational complexity. We propose an efficient and robust mobile manipulator planner (HAMP-BAU) that plans judiciously and considers the base pose uncertainty and the effects of this uncertainty on manipulator motions. It uses our localization aware sampling and connection strategies to consider only those nodes and edges which contribute toward better localization. This helps to find the same quality of path in shorter time. We also extend HAMP-BAU to incorporate task space constraints (HAMP-BAU-TC). Finally, in the last part of the work, we incorporate our planners (HAMP-BAU and HAMP-BAU-TC) within an integrated and fully autonomous system for mobile pick-and-place tasks in unknown static environments. We demonstrate our system both in simulation and real experiments on SFU mobile manipulator.
Download or read book Motion Planning and Control of Robot Manipulators Via Application of a Computer Graphics Animated Display written by Carl David Crane and published by . This book was released on 1987 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2018-11-15 with total page 243 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Download or read book Motion Planning and Control of Robot Manipulators Via Application of a Computer Graphics Animated Display written by Carl David Crane (III) and published by . This book was released on 1987 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Safe Randomized Motion Planning for a 9 dof Manipulator written by Supinya Khetchaikasem and published by . This book was released on 1997 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
Download or read book Application of Sampling based Model Predictive Control to Motion Planning for Robotic Manipulators written by Tomás Fernando Mann Sánchez and published by . This book was released on 2011 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: More specifically, SBMPC was used with simulations of two manipulators, namely a 3-link planar manipulator and the Barrett WAM. The results show that SBMPC can be used to generate smooth paths for these two manipulators simply by sampling joint velocities instead of joint angles, and even smoother paths by sampling joint accelerations instead of joint velocities. The results also demonstrate that SBMPC can generate smooth trajectories given that the proper cost function and goal heuristic are used. Since SBMPC is able to generate smooth smooth paths or smooth trajectories in a single step, this presents a significant improvement to the conventional approach used for robot motion planning used in the past few decades. Finally, SBMPC is still under investigation, and even though important results are presented here, SBMPC still has room for improvement that could lead to more interesting projects.
Download or read book Optimal Motion Planning and Control of Manipulator written by Hong Tae Jeon and published by . This book was released on 1986 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 1993 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: Emerging from the Workshop on [title], held at the 1991 IEEE International Conference on Robotics and Automation, this volume consists of contributed chapters representing new developments in the area of path planning for robotic systems that are subject to either nonholonomic constraints or non-integrable conservation laws. The contributors include robotics engineers, nonlinear control experts, differential geometers, and applied mathematicians. Could by used as a reference by researchers or as a textbook for a graduate level robotics or nonlinear control course. Annotation copyright by Book News, Inc., Portland, OR
Download or read book Robotic Control and Nonholonomic Motion Planning written by Richard M. Murray and published by . This book was released on 1990 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt:
