Fundamentals Of Mechanics Of Robotic Manipulation

Author : Marco Ceccarelli
Publisher : Springer Nature
Page : 398 pages
File Size : 45,5 Mb
Release : 2022-03-30
Category : Technology & Engineering
ISBN : 9783030908485

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Fundamentals of Mechanics of Robotic Manipulation by Marco Ceccarelli Pdf

The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.

Author : Matthew T. Mason
Publisher : MIT Press
Page : 282 pages
File Size : 42,8 Mb
Release : 2001-06-08
Category : Computers
ISBN : 0262263742

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Mechanics of Robotic Manipulation by Matthew T. Mason Pdf

The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Author : Jorge Angeles
Publisher : Springer Science & Business Media
Page : 537 pages
File Size : 42,7 Mb
Release : 2007-09-04
Category : Technology & Engineering
ISBN : 9780387224589

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Fundamentals of Robotic Mechanical Systems by Jorge Angeles Pdf

Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).

Author : Mason
Publisher : Unknown
Page : 268 pages
File Size : 48,7 Mb
Release : 2005
Category : Manipulators (Mechanism)
ISBN : 8120326814

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Mechanics Of Robotic Manipulation by Mason Pdf

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 45,7 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.

Author : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 51,7 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469791

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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 : Tsuneo Yoshikawa
Publisher : MIT Press
Page : 318 pages
File Size : 43,6 Mb
Release : 1990
Category : Computers
ISBN : 0262240289

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Foundations of Robotics by Tsuneo Yoshikawa Pdf

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.

Author : Jorge Angeles
Publisher : Springer
Page : 0 pages
File Size : 53,7 Mb
Release : 2008-11-01
Category : Technology & Engineering
ISBN : 0387510176

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Fundamentals of Robotic Mechanical Systems by Jorge Angeles Pdf

This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included and this new edition incorporates numerous advances.

Author : Richard M. Murray
Publisher : CRC Press
Page : 283 pages
File Size : 43,6 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 : David Ardayfio
Publisher : CRC Press
Page : 447 pages
File Size : 44,7 Mb
Release : 2020-07-24
Category : Technology & Engineering
ISBN : 9781000105568

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Fundamentals of Robotics by David Ardayfio Pdf

Fundamentals of Robotics presents the basic concepts of robots to engineering and technology students and to practicing engineers who want to grasp the fundamentals in the growing field of robotics.

Author : Caihua Xiong,Han Ding,You-Lun Xiong
Publisher : World Scientific
Page : 229 pages
File Size : 42,8 Mb
Release : 2007
Category : Technology & Engineering
ISBN : 9789812771834

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Fundamentals of Robotic Grasping and Fixturing by Caihua Xiong,Han Ding,You-Lun Xiong Pdf

This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.

Author : Ceccarelli, Marco
Publisher : IGI Global
Page : 442 pages
File Size : 49,9 Mb
Release : 2012-03-31
Category : Technology & Engineering
ISBN : 9781466602922

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Service Robots and Robotics: Design and Application by Ceccarelli, Marco Pdf

"This book offers the latest research within the field of service robotics, using a mixture of case studies, research, and future direction in this burgeoning field of technology"--

Author : M. Vukobratovic,M. Kircanski
Publisher : Springer Science & Business Media
Page : 278 pages
File Size : 45,7 Mb
Release : 2013-12-11
Category : Science
ISBN : 9783642821950

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Kinematics and Trajectory Synthesis of Manipulation Robots by M. Vukobratovic,M. Kircanski Pdf

A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.

Author : Zhijun Li,Shuzhi Sam Ge
Publisher : CRC Press
Page : 292 pages
File Size : 50,5 Mb
Release : 2016-04-19
Category : Technology & Engineering
ISBN : 9781466580428

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Fundamentals in Modeling and Control of Mobile Manipulators by Zhijun Li,Shuzhi Sam Ge Pdf

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control

Author : Robert Joseph Schilling
Publisher : Unknown
Page : 460 pages
File Size : 51,7 Mb
Release : 1990
Category : Computers
ISBN : UOM:39015015528162

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Fundamentals of Robotics by Robert Joseph Schilling Pdf

A complete overview of the fundamentals of robotics. Case study examples of educational, industrial and generic robots are discussed. Class demonstration software is provided with the laboratory manual. (vs. Craig, Fu, and Asada).