Modelling And Identification In Robotics
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Modelling And Identification In Robotics
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Author : Krzysztof R. Kozlowski
language : en
Publisher: Springer
Release Date : 2011-09-26
Modelling And Identification In Robotics written by Krzysztof R. Kozlowski and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-09-26 with Technology & Engineering categories.
As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in depth the most topical, complex issues of modelling and identification in robotics. The book is divided into three main parts. The !first part is devoted to robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiment al results of robot and load dynamic parameters identification. A general concept of robot programming language for research and educational purposes is examined and there is a detailed outline of its basic structures along with hardware requirements, which both constitute an open robot controller architecture. Finally a hybrid controller is derived, and several experimental results of this system are outlined. This impressive discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and will be of value to anyone researching or practising within the field of robotics, automation and system i dentification or to control engineers.
Modeling Identification And Control Of Robots
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Author : Wisama Khalil
language : en
Publisher: CRC Press
Release Date : 2002
Modeling Identification And Control Of Robots written by Wisama Khalil and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Technology & Engineering categories.
Modeling Identification And Control Of Robots
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Author : W. Khalil
language : en
Publisher: Butterworth-Heinemann
Release Date : 2004-07-01
Modeling Identification And Control Of Robots written by W. Khalil and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-07-01 with Computers categories.
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
Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-08-20
Robotics 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 2010-08-20 with Technology & Engineering categories.
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.
Modelling And Identification In Robotics
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Author : Krzysztof Kozłowski
language : en
Publisher: Springer
Release Date : 1998-03-25
Modelling And Identification In Robotics written by Krzysztof Kozłowski and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-03-25 with Business & Economics categories.
As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in depth the most topical, complex issues of modelling and identification in robotics. The book is divided into three main parts: Robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experimental results of robot and load dynamic parameters identification. A general concept of robot programming language for research and educational purposes is examined and there is a detailed outline of its basic structures along with hardware requirements, which both constitute an open robot controller architecture. A hybrid controller is derived, and several experimental results of this system are outlined. This impressive discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and will be of value to anyone researching or practising within the field of robotics, automation and system identification, or to control engineers. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial 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 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.
Multibody System Dynamics Robotics And Control
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Author : Hubert Gattringer
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-01-06
Multibody System Dynamics Robotics And Control written by Hubert Gattringer 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 2013-01-06 with Technology & Engineering categories.
The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Process Modelling Identification And Control
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Author : Ján Mikleš
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-06-30
Process Modelling Identification And Control written by Ján Mikleš 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 2007-06-30 with Technology & Engineering categories.
Control and automation in its broadest sense plays a fundamental role in process industries. Control assures stability of technologies, disturbance - tenuation, safety of equipment and environment as well as optimal process operation from economic point of view. This book intends to present modern automatic control methods and their applications in process control in p- cess industries. The processes studied mainly involve mass and heat transfer processes and chemical reactors. It is assumed that the reader has already a basic knowledge about c- trolled processes and about di?erential and integral calculus as well as about matrixalgebra.Automaticcontrolproblemsinvolvemathematicsmorethanit is usual in other engineering disciplines. The book treats problems in a similar way as it is in mathematics. The problem is formulated at ?rst, then the t- orem is stated. Only necessary conditions are usually proved and su?ciency is left aside as it follows from the physical nature of the problem solved. This helps to follow the engineering character of problems. The intended audience of this book includes graduate students but can also be of interest to practising engineers or applied scientists.
Modelling And Identification In Robotics
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Author : Krzysztof Kozlowski
language : it
Publisher:
Release Date : 1998
Modelling And Identification In Robotics written by Krzysztof Kozlowski and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.