Dynamics And Control Of Robotic Manipulators With Contact And Friction

Author : Shiping Liu,Gang S. Chen
Publisher : John Wiley & Sons
Page : 266 pages
File Size : 47,7 Mb
Release : 2019-02-11
Category : Technology & Engineering
ISBN : 9781119422488

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Dynamics and Control of Robotic Manipulators with Contact and Friction by Shiping Liu,Gang S. Chen Pdf

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.

Author : J Skowronski
Publisher : Elsevier
Page : 279 pages
File Size : 50,6 Mb
Release : 2012-12-02
Category : Technology & Engineering
ISBN : 9780323158114

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Control Dynamics of Robotic Manipulators by J Skowronski Pdf

Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements. The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model). The text also describes equations used to determine the force characteristics, energy, and power required in manipulators. For example, damping forces dissipate energy caused by dry friction or viscous damping at mechanical joints due to slips and sheer effects on surfaces. Other examples are oil, water, and air resistance in the environment of the manipulator, as well as damping in links caused by microscopic interface effects. Demands for high-speed and high-accuracy in manipulators require sturdiness in control against variations in the system parameter. The book cites a situation where the manipulator works in a "hot cell" and must be controlled remotely. The text also tackles the avoidance of obstacles by nonvisual means by referring to the works of Lozano, Perez and Wesley, and of Reibert and Horn. The text is useful for students of civil, structural, and mechanical engineering. It will also profit technicians of automatic, telecontrol, and designers of industrial machinery.

Author : Richard M. Murray
Publisher : CRC Press
Page : 283 pages
File Size : 52,6 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469784

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Author : Frank L. Lewis,Chaouki T. Abdallah,D. M. Dawson
Publisher : MacMillan Publishing Company
Page : 450 pages
File Size : 55,6 Mb
Release : 1993
Category : Technology & Engineering
ISBN : UOM:39015048106119

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Control of Robot Manipulators by Frank L. Lewis,Chaouki T. Abdallah,D. M. Dawson Pdf

Author : Bruno Siciliano,Luigi Villani
Publisher : Springer Science & Business Media
Page : 154 pages
File Size : 47,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461544319

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Robot Force Control by Bruno Siciliano,Luigi Villani Pdf

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.

Author : Frank L. Lewis,Darren M. Dawson,Chaouki T. Abdallah
Publisher : CRC Press
Page : 646 pages
File Size : 44,6 Mb
Release : 2003-12-12
Category : Technology & Engineering
ISBN : 0203026950

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Robot Manipulator Control by Frank L. Lewis,Darren M. Dawson,Chaouki T. Abdallah Pdf

Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Author : Tong Heng Lee,Christopher John Harris
Publisher : World Scientific
Page : 400 pages
File Size : 54,8 Mb
Release : 1998
Category : Electronic
ISBN : 981023452X

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Adaptive Neural Network Control of Robotic Manipulators by Tong Heng Lee,Christopher John Harris Pdf

Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Author : Lorenzo Sciavicco,Bruno Siciliano
Publisher : Springer Science & Business Media
Page : 391 pages
File Size : 44,9 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447104490

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Modelling and Control of Robot Manipulators by Lorenzo Sciavicco,Bruno Siciliano Pdf

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.

Author : Andrew J. Kurdila,Pinhas Ben-Tzvi
Publisher : John Wiley & Sons
Page : 514 pages
File Size : 40,9 Mb
Release : 2019-12-16
Category : Technology & Engineering
ISBN : 9781119524830

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Dynamics and Control of Robotic Systems by Andrew J. Kurdila,Pinhas Ben-Tzvi Pdf

A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

Author : Andrew J. Kurdila,Pinhas Ben-Tzvi
Publisher : John Wiley & Sons
Page : 700 pages
File Size : 48,8 Mb
Release : 2019-10-29
Category : Technology & Engineering
ISBN : 9781119524953

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Dynamics and Control of Robotic Systems by Andrew J. Kurdila,Pinhas Ben-Tzvi Pdf

A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

Author : Serdar Küçük
Publisher : BoD – Books on Demand
Page : 472 pages
File Size : 54,7 Mb
Release : 2012-03-30
Category : Computers
ISBN : 9789535104377

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Serial and Parallel Robot Manipulators by Serdar Küçük Pdf

The robotics is an important part of modern engineering and is related to a group of branches such as electric

Author : Agustin Jimenez,Basil M. Al Hadithi
Publisher : BoD – Books on Demand
Page : 680 pages
File Size : 49,5 Mb
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9789533070735

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Robot Manipulators by Agustin Jimenez,Basil M. Al Hadithi Pdf

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.

Author : Mark W. Spong,Frank L. Lewis,Chaouki T. Abdallah
Publisher : Institute of Electrical & Electronics Engineers(IEEE)
Page : 560 pages
File Size : 42,6 Mb
Release : 1993
Category : Computers
ISBN : UOM:39015051604133

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Robot Control by Mark W. Spong,Frank L. Lewis,Chaouki T. Abdallah Pdf

Author : Mark W Spong,M. Vidyasagar
Publisher : John Wiley & Sons
Page : 356 pages
File Size : 43,5 Mb
Release : 2008-08-04
Category : Robots
ISBN : 8126517808

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Robot Dynamics And Control by Mark W Spong,M. Vidyasagar Pdf

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.

Author : M. Vukobratovic,V. Potkonjak,V. Matijevic
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 51,9 Mb
Release : 2013-04-17
Category : Science
ISBN : 9789401703970

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Dynamics of Robots with Contact Tasks by M. Vukobratovic,V. Potkonjak,V. Matijevic Pdf

As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues. The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.