Robust Motion Control Of Oscillatory Base Manipulators
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Robust Motion Control Of Oscillatory Base Manipulators
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Author : Masayoshi Toda
language : en
Publisher: Springer
Release Date : 2015-08-08
Robust Motion Control Of Oscillatory Base Manipulators written by Masayoshi Toda and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-08-08 with Technology & Engineering categories.
This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researchers interested in the robust control of mechanical systems operating on unstable bases will find this monograph valuable. MATLAB® and Simulink® programs are available for download to make the methods described in the text easier to understand and to allow readers to experience practical procedures at first hand.
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.
Mathematical Advances Towards Sustainable Environmental Systems
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Author : James N. Furze
language : en
Publisher: Springer
Release Date : 2016-12-11
Mathematical Advances Towards Sustainable Environmental Systems written by James N. Furze and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-12-11 with Science categories.
This edited volume focuses on how we can protect our environment and enhance environmental sustainability when faced with changes and pressures imposed by our expansive needs. The volume unites multiple subject areas within sustainability, enabling the techniques and philosophy in the chapters to be applied to research areas in environmental science, plant sciences, energy, biodiversity and conservation. The chapters from expert contributors cover topics such as mathematical modelling tools used to monitor diversity of plant species, and the stability of ecosystem services such as biogeochemical cycling. Empirical research presented here also brings together mathematical developments in the important fields of robotics including kinematics, dynamics, path planning, control, vision, and swarmanoids. Through this book readers will also discover about rainfall-runoff modelling which will give them a better idea of the effects of climate change on the sustainability of water resources at the watershed scale. Modelling approaches will also be examined that maximize readers insights into the global problem of energy transition, i.e. the switch to an energy production system using renewable resources only. Collective and discrete insights are made to assist with synergy which should progress well beyond this book. Insight is also given to assist policy formations, development and implementations. The book has a strong multi-disciplinary nature at its core, and will appeal to both generalist readers and specialists in information technology, mathematics, biology, physics, chemistry and environmental sciences.
Control Of Robot Manipulators
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Author : Frank L. Lewis
language : en
Publisher: MacMillan Publishing Company
Release Date : 1993
Control Of Robot Manipulators written by Frank L. Lewis and has been published by MacMillan Publishing Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with Technology & Engineering categories.
Materials Design And Manufacturing For Sustainable Environment
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Author : Santhakumar Mohan
language : en
Publisher: Springer Nature
Release Date : 2021-02-06
Materials Design And Manufacturing For Sustainable Environment written by Santhakumar Mohan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-02-06 with Technology & Engineering categories.
This book comprises the select proceedings of the International Conference on Materials, Design and Manufacturing for Sustainable Environment (ICMDMSE 2020). The primary focus is on emerging materials and cutting-edge manufacturing technologies for sustainable environment. The book covers a wide range of topics such as advanced materials, vibration, tribology, finite element method (FEM), heat transfer, fluid mechanics, energy engineering, additive manufacturing, robotics and automation, automobile engineering, industry 4.0, MEMS and nanotechnology, optimization techniques, condition monitoring, and new paradigms in technology management. Contents of this book will be useful to students, researchers, and practitioners alike.
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.
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.
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.
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.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1995
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Aeronautics categories.