Modelling And Simulation Of Robot Manipulators A Parallel Processing Approach
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Modelling And Simulation Of Robot Manipulators A Parallel Processing Approach
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Author : Albert Y Zomaya
language : en
Publisher: World Scientific Publishing Company
Release Date : 1993-01-29
Modelling And Simulation Of Robot Manipulators A Parallel Processing Approach written by Albert Y Zomaya and has been published by World Scientific Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993-01-29 with Computers categories.
This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes “benchmark” results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research.
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.
Robot Manipulators
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Author : Etienne Dombre
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-01
Robot Manipulators written by Etienne Dombre 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 2013-03-01 with Technology & Engineering categories.
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
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.
Serial And Parallel Robot Manipulators
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Author : Serdar Küçük
language : en
Publisher: BoD – Books on Demand
Release Date : 2012-03-30
Serial And Parallel Robot Manipulators written by Serdar Küçük 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 2012-03-30 with Computers categories.
The robotics is an important part of modern engineering and is related to a group of branches such as electric
Modelling And Control Of Robot Manipulators
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
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 2012-12-06 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 Manipulator Redundancy Resolution
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Author : Yunong Zhang
language : en
Publisher: John Wiley & Sons
Release Date : 2017-09-11
Robot Manipulator Redundancy Resolution written by Yunong Zhang 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 2017-09-11 with Technology & Engineering categories.
Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Parallel Computation Systems For Robotics
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Author : A. Fijany
language : en
Publisher: World Scientific
Release Date : 1992
Parallel Computation Systems For Robotics written by A. Fijany and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992 with Technology & Engineering categories.
This book presents an extensive survey of the state-of-the-art research in parallel computational algorithms and architectures for robot manipulator control and simulation. It deals not only with specifics but also includes general and broader issues which serve as a useful foundation to the topic. The educational flavor of the book makes it a necessary resource for researchers, engineers and students wanting to be familiarized with the potential offered by the application of parallel processing to robotic problems, and its current issues and trends.
Parallel Processing Of Manipulator Dynamics Incorporating Frictional Effects
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Author : Charles Dhanaraj
language : en
Publisher:
Release Date : 1990
Parallel Processing Of Manipulator Dynamics Incorporating Frictional Effects written by Charles Dhanaraj and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Friction categories.
Theory And Practice Of Robots And Manipulators
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Author : A. Morecki
language : en
Publisher: Springer
Release Date : 1995-07-05
Theory And Practice Of Robots And Manipulators written by A. Morecki and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995-07-05 with Computers categories.
The CISM-IFToMM Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the Tenth Symposia present a world view to date of the state-of-the-art, including a unique record of the results achieved in central and eastern Europe.