Model Based Control Of A Robot Manipulator
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Model Based Control Of A Robot Manipulator
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Author : Chae H. An
language : en
Publisher: MIT Press (MA)
Release Date : 1988-03-01
Model Based Control Of A Robot Manipulator written by Chae H. An and has been published by MIT Press (MA) this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988-03-01 with Computers categories.
The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.
Modelling And Control Of Robot Manipulators
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-02-19
Modelling And Control Of Robot Manipulators written by Lorenzo Sciavicco and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2001-02-19 with Technology & Engineering categories.
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.
Robot Force Control
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Author : Bruno Siciliano
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Force Control written by Bruno Siciliano and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Adaptive Control Of Robot Manipulators
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Author : An-Chyau Huang
language : en
Publisher: World Scientific
Release Date : 2010
Adaptive Control Of Robot Manipulators written by An-Chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Technology & Engineering categories.
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.
Vehicle Manipulator Systems
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Author : Pål Johan From
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-10-02
Vehicle Manipulator Systems written by Pål Johan From and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-10-02 with Technology & Engineering categories.
Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Robotic Manipulators And Vehicles
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Author : Gerasimos Rigatos
language : en
Publisher: Springer
Release Date : 2018-05-24
Robotic Manipulators And Vehicles written by Gerasimos Rigatos and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-05-24 with Technology & Engineering categories.
This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
Flexible Robot Manipulators
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Author : M. Osman Tokhi
language : en
Publisher: IET
Release Date : 2008-05-20
Flexible Robot Manipulators written by M. Osman Tokhi and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-20 with Technology & Engineering categories.
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Modern Robotics
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Author : Kevin M. Lynch
language : en
Publisher: Cambridge University Press
Release Date : 2017-05-25
Modern Robotics written by Kevin M. Lynch and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-05-25 with Computers categories.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Robot Dynamics And Control
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Author : Mark W Spong
language : en
Publisher: John Wiley & Sons
Release Date : 2008-08-04
Robot Dynamics And Control written by Mark W Spong 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 2008-08-04 with Robots categories.
This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
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 : 2019-02-11
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 2019-02-11 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.