Grasping And Manipulation Force Control For Coordinating Multi Manipulator Robotic Systems With Proprioceptive Feedback
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Grasping And Manipulation Force Control For Coordinating Multi Manipulator Robotic Systems With Proprioceptive Feedback
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Author : Karl Van Wyk
language : en
Publisher:
Release Date : 2014
Grasping And Manipulation Force Control For Coordinating Multi Manipulator Robotic Systems With Proprioceptive Feedback written by Karl Van Wyk and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
Robust robotic grasping and manipulation is a multi-faceted problem with many different strategies. A robust strategy must surely be able to compensate for unforeseen dynamic disturbances and model uncertainty - traits present in the real, dynamic world. This dissertation completed the following objectives: 1) investigated and developed the necessary preliminary functionalities for robotic grasping and manipulation, and 2) created two new controllers unique in their strategy that impart accurate and robust grasping and manipulation capabilities for multi-manipulator systems. There are two underlying functionalities that must exist for a collection of manipulators to properly grasp or manipulate an object. First, these manipulators must possess the ability to measure slip velocity at their respective point of contact with an object. Neurophysiological research indicates that slip related sensory signals are fundamental to proper and stable grasping or manipulation of an object.
Iros 93
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Author :
language : en
Publisher:
Release Date : 1993
Iros 93 written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with Artificial intelligence categories.
Ieee Eascon Proceedings
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Author :
language : en
Publisher:
Release Date : 1986
Ieee Eascon Proceedings written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986 with Avionics categories.
Nasa Conference Publication
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Author :
language : en
Publisher:
Release Date : 1990
Nasa Conference Publication written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Aeronautics categories.
Annual Workshop On Space Operations Automation And Robotics Soar
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Author :
language : en
Publisher:
Release Date : 1989
Annual Workshop On Space Operations Automation And Robotics Soar written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Artificial intelligence categories.
Third Annual Workshop On Space Operations Automation And Robotics Soar 89
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Author : United States. National Aeronautics and Space Administration
language : en
Publisher:
Release Date : 1990
Third Annual Workshop On Space Operations Automation And Robotics Soar 89 written by United States. National Aeronautics and Space Administration and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Aeronautics categories.
Ieee Eascon 86
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Author :
language : en
Publisher:
Release Date : 1986
Ieee Eascon 86 written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986 with Artificial satellites categories.
Task Space Sensory Feedback Control Of Robot Manipulators
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Author : Chien Chern Cheah
language : en
Publisher: Springer
Release Date : 2015-04-09
Task Space Sensory Feedback Control Of Robot Manipulators written by Chien Chern Cheah and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-09 with Technology & Engineering categories.
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
Dynamics And Control Of Robotic Manipulators With Contact And Friction
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Author : Shiping Liu
language : en
Publisher: John Wiley & Sons
Release Date : 2018-11-15
Dynamics And Control Of Robotic Manipulators With Contact And Friction written by Shiping Liu and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-15 with Technology & Engineering categories.
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.
Robot Manipulators
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Author : Agustin Jimenez
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-03-01
Robot Manipulators written by Agustin Jimenez and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-01 with Technology & Engineering categories.
This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.