Force Control Of Robotics Systems

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Force Control of Robotics Systems

Dimitry M. Gorinevsky, Alexander M. Formalsky, Anatoly YU. Schneider
Force Control of Robotics Systems Book PDF

Author : Dimitry M. Gorinevsky, Alexander M. Formalsky, Anatoly YU. Schneider
Publisher : Formalskii Alexander
Page : 364 pages
File Size : 55,9 Mb
Release : 1997-07-23
Category : Technology & Engineering
ISBN : 9780849326714

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Force Control of Robotics Systems by Dimitry M. Gorinevsky, Alexander M. Formalsky, Anatoly YU. Schneider Pdf

Force Control of Robotics Systems is the first book that focuses on the fundamentals of this complex topic. Written to engage in force control research, this timely volume presents original results, some of which previously have not been readily accessible to Western Audiences. Issues covered include force sensor design, force feedback synthesis, closed-loop dynamics, and more. The theoretical analysis is based on the methods of Analytical Dynamics and Control Theory. The book also considers fundamental problems related to force control, and explains how to design simple and efficient control algorithms for performing tasks with robots. Algorithms and design methods are experimentally verified and emphasize practical applications.

Robot Force Control

Bruno Siciliano,Luigi Villani
Robot Force Control Book PDF

Author : Bruno Siciliano,Luigi Villani
Publisher : Springer Science & Business Media
Page : 154 pages
File Size : 42,8 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.

Modern Robotics

Kevin M. Lynch,Frank C. Park
Modern Robotics Book PDF

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 51,9 Mb
Release : 2017-05-25
Category : Computers
ISBN : 9781107156302

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Modern Robotics by Kevin M. Lynch,Frank C. Park Pdf

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Learning for Adaptive and Reactive Robot Control

Aude Billard,Sina Mirrazavi,Nadia Figueroa
Learning for Adaptive and Reactive Robot Control Book PDF

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 51,8 Mb
Release : 2022-02-08
Category : Technology & Engineering
ISBN : 9780262367011

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Learning for Adaptive and Reactive Robot Control by Aude Billard,Sina Mirrazavi,Nadia Figueroa Pdf

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Intelligent Control of Robotic Systems

D. Katic,M. Vukobratovic
Intelligent Control of Robotic Systems Book PDF

Author : D. Katic,M. Vukobratovic
Publisher : Springer Science & Business Media
Page : 308 pages
File Size : 47,7 Mb
Release : 2013-03-14
Category : Technology & Engineering
ISBN : 9789401703178

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Intelligent Control of Robotic Systems by D. Katic,M. Vukobratovic Pdf

As robotic systems make their way into standard practice, they have opened the door to a wide spectrum of complex applications. Such applications usually demand that the robots be highly intelligent. Future robots are likely to have greater sensory capabilities, more intelligence, higher levels of manual dexter ity, and adequate mobility, compared to humans. In order to ensure high-quality control and performance in robotics, new intelligent control techniques must be developed, which are capable of coping with task complexity, multi-objective decision making, large volumes of perception data and substantial amounts of heuristic information. Hence, the pursuit of intelligent autonomous robotic systems has been a topic of much fascinating research in recent years. On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems. Due to their strong learning and cognitive ability and good tolerance of uncertainty and imprecision, Soft Computing techniques have found wide application in the area of intelligent control of robotic systems.

Interaction Control of Robot Manipulators

Ciro Natale
Interaction Control of Robot Manipulators Book PDF

Author : Ciro Natale
Publisher : Springer
Page : 108 pages
File Size : 45,9 Mb
Release : 2003-09-05
Category : Technology & Engineering
ISBN : 9783540361558

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Interaction Control of Robot Manipulators by Ciro Natale Pdf

Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.

Underwater Robots

Gianluca Antonelli
Underwater Robots Book PDF

Author : Gianluca Antonelli
Publisher : Unknown
Page : 312 pages
File Size : 47,9 Mb
Release : 2006-06-13
Category : Computers
ISBN : UCSD:31822034311704

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Underwater Robots by Gianluca Antonelli Pdf

This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.

Lyapunov-Based Control of Robotic Systems

Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian
Lyapunov Based Control of Robotic Systems Book PDF

Author : Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian
Publisher : CRC Press
Page : 389 pages
File Size : 40,9 Mb
Release : 2009-12-17
Category : Computers
ISBN : 9781420006278

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Lyapunov-Based Control of Robotic Systems by Aman Behal,Warren Dixon,Darren M. Dawson,Bin Xian Pdf

Lyapunov-Based Control of Robotic Systems describes nonlinear control design solutions for problems that arise from robots required to interact with and manipulate their environments. Since most practical scenarios require the design of nonlinear controllers to work around uncertainty and measurement-related issues, the authors use Lyapunov's direc

Control in Robotics and Automation

Bhaskar Kumar Ghosh,Ning Xi,Tzyh-Jong Tarn
Control in Robotics and Automation Book PDF

Author : Bhaskar Kumar Ghosh,Ning Xi,Tzyh-Jong Tarn
Publisher : Academic Press
Page : 444 pages
File Size : 52,5 Mb
Release : 1999
Category : Technology & Engineering
ISBN : 0122818458

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Control in Robotics and Automation by Bhaskar Kumar Ghosh,Ning Xi,Tzyh-Jong Tarn Pdf

Control in Robotics and Automation has been written to meet the rapidly growing need for sensor-based integration to solve problems in the control and planning of robotic systems. Applications of these control methods range from assembly tasks in industrial automation to material handling in hazardous environments and servicing tasks in space. Many advances in a wide range of new applications in robotics and automation will depend on methods presented in this book, including robot-assisted surgery, space exploration, and micro-fabrication.

Control in Robotics and Automation

Bijoy K. Ghosh,T. J. Tarn,Ning Xi
Control in Robotics and Automation Book PDF

Author : Bijoy K. Ghosh,T. J. Tarn,Ning Xi
Publisher : Elsevier
Page : 442 pages
File Size : 42,6 Mb
Release : 1999-04-09
Category : Technology & Engineering
ISBN : 9780080503073

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Control in Robotics and Automation by Bijoy K. Ghosh,T. J. Tarn,Ning Xi Pdf

Microcomputer technology and micromechanical design have contributed to recent rapid advances in Robotics. Particular advances have been made in sensor technology that allow robotic systems to gather data and react "intelligently" in flexible manufacturing systems. The analysis and recording of the data are vital to controlling the robot.In order to solve problems in control and planning for a Robotic system it is necessary to meet the growing need for the integration of sensors in to the system. Control in Robotics and Automation addresses this need. This book covers integration planning and control based on prior knowledge and real-time sensory information. A new task-oriented approach to sensing, planning and control introduces an event-based method for system design together with task planning and three dimensional modeling in the execution of remote operations.Typical remote systems are teleoperated and provide work efficiencies that are on the order of ten times slower than what is directly achievable by humans. Consequently, the effective integration of automation into teleoperated remote systems offers potential to improve remote system work efficiency. The authors introduce visually guided control systems and study the role of computer vision in autonomously guiding a robot system. Sensor-Based Planning and Control in an Event-Based Approach Visually Guided Sensing and Control Multiple Sensor Fuson in Planning and Control System Integration and Implementation Practical Applications

Dynamics and Control of Robotic Manipulators with Contact and Friction

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

Author : Shiping Liu,Gang S. Chen
Publisher : John Wiley & Sons
Page : 266 pages
File Size : 49,6 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.

AI based Robot Safe Learning and Control

Xuefeng Zhou,Zhihao Xu,Shuai Li,Hongmin Wu,Taobo Cheng,Xiaojing Lv
AI based Robot Safe Learning and Control Book PDF

Author : Xuefeng Zhou,Zhihao Xu,Shuai Li,Hongmin Wu,Taobo Cheng,Xiaojing Lv
Publisher : Springer Nature
Page : 138 pages
File Size : 41,6 Mb
Release : 2020-06-02
Category : Technology & Engineering
ISBN : 9789811555039

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AI based Robot Safe Learning and Control by Xuefeng Zhou,Zhihao Xu,Shuai Li,Hongmin Wu,Taobo Cheng,Xiaojing Lv Pdf

This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.

Modelling and Control of Robot Manipulators

Lorenzo Sciavicco,Bruno Siciliano
Modelling and Control of Robot Manipulators Book PDF

Author : Lorenzo Sciavicco,Bruno Siciliano
Publisher : Springer Science & Business Media
Page : 391 pages
File Size : 48,9 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.

Nonlinear Control of Robotic Systems for Environmental Waste and Restoration

D. M. Dawson,Michael M. Bridges,Zhihua Qu
Nonlinear Control of Robotic Systems for Environmental Waste and Restoration Book PDF

Author : D. M. Dawson,Michael M. Bridges,Zhihua Qu
Publisher : Prentice Hall
Page : 184 pages
File Size : 51,9 Mb
Release : 1995
Category : Technology & Engineering
ISBN : UOM:39015032188255

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Nonlinear Control of Robotic Systems for Environmental Waste and Restoration by D. M. Dawson,Michael M. Bridges,Zhihua Qu Pdf

This text focuses on the robust control of robotic manipulators, with special emphasis on the theoretical and implementational issues for environmental waste and restoration applications. The book has been written from a robot control engineering perspective.

Neural Network Control Of Robot Manipulators And Non-Linear Systems

F W Lewis,S. Jagannathan,A Yesildirak
Neural Network Control Of Robot Manipulators And Non Linear Systems Book PDF

Author : F W Lewis,S. Jagannathan,A Yesildirak
Publisher : CRC Press
Page : 468 pages
File Size : 42,7 Mb
Release : 2020-08-14
Category : Technology & Engineering
ISBN : 9781000162776

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Neural Network Control Of Robot Manipulators And Non-Linear Systems by F W Lewis,S. Jagannathan,A Yesildirak Pdf

There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.