Modelling And Control Of Robot Manipulators

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.

Author : M. Osman Tokhi,Abul K.M. Azad
Publisher : IET
Page : 579 pages
File Size : 44,8 Mb
Release : 2008-05-20
Category : Technology & Engineering
ISBN : 9780863414480

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Flexible Robot Manipulators by M. Osman Tokhi,Abul K.M. Azad Pdf

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.

Author : Abhaya Pal Singh,Dipankar Deb,Himanshu Agrawal,Valentina E. Balas
Publisher : Springer Nature
Page : 138 pages
File Size : 47,7 Mb
Release : 2020-10-15
Category : Technology & Engineering
ISBN : 9783030582470

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Fractional Modeling and Controller Design of Robotic Manipulators by Abhaya Pal Singh,Dipankar Deb,Himanshu Agrawal,Valentina E. Balas Pdf

This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

Author : Mark W Spong,M. Vidyasagar
Publisher : John Wiley & Sons
Page : 356 pages
File Size : 48,9 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 : Henry W. Stone
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 47,7 Mb
Release : 1987-09-30
Category : Technology & Engineering
ISBN : 0898382378

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Kinematic Modeling, Identification, and Control of Robotic Manipulators by Henry W. Stone Pdf

The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.

Author : Etienne Dombre,Wisama Khalil
Publisher : John Wiley & Sons
Page : 304 pages
File Size : 51,5 Mb
Release : 2013-03-01
Category : Technology & Engineering
ISBN : 9781118614105

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Robot Manipulators by Etienne Dombre,Wisama Khalil Pdf

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.

Author : Sciavicco
Publisher : Unknown
Page : 378 pages
File Size : 44,7 Mb
Release : 2007-08-01
Category : Electronic
ISBN : 8181287142

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Modelling And Control Of Robot Manipulators, 2E by Sciavicco Pdf

Author : Zhijun Li,Shuzhi Sam Ge
Publisher : CRC Press
Page : 292 pages
File Size : 42,6 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 : W. Khalil,E. Dombre
Publisher : Butterworth-Heinemann
Page : 500 pages
File Size : 51,8 Mb
Release : 2004-07-01
Category : Technology & Engineering
ISBN : 9780080536613

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Modeling, Identification and Control of Robots by W. Khalil,E. Dombre Pdf

Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority · Unique range of coverage not available in any other book · Provides a complete course on robotic control at an undergraduate and graduate level

Author : Lorenzo Sciavicco,Bruno Siciliano
Publisher : McGraw-Hill Companies
Page : 392 pages
File Size : 52,9 Mb
Release : 1996
Category : Technology & Engineering
ISBN : UOM:39015038173657

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

Fundamental and technological topics are uniquely blended and clearly developed 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 the book's coverage is further enriched by the inclusion of trajectory planning, actuators, sensors, and control architectures - which are topics not commonly found in other texts, despite their significance for today's industrial robotics.

Author : Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 46,6 Mb
Release : 2010-08-20
Category : Technology & Engineering
ISBN : 9781846286414

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Robotics by Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo Pdf

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.

Author : Bruno Siciliano,Luigi Villani
Publisher : Springer Science & Business Media
Page : 154 pages
File Size : 50,7 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 : Rafael Kelly,Victor Santibáñez Davila,Julio Antonio Loría Perez
Publisher : Springer Science & Business Media
Page : 426 pages
File Size : 40,5 Mb
Release : 2006-03-30
Category : Technology & Engineering
ISBN : 9781852339999

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Control of Robot Manipulators in Joint Space by Rafael Kelly,Victor Santibáñez Davila,Julio Antonio Loría Perez Pdf

Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 51,6 Mb
Release : 2024-06-01
Category : Electronic
ISBN : 9789814485845

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Advanced Studies of Flexible Robotic Manipulators by Anonim Pdf

Author : Fei-Yue Wang
Publisher : World Scientific
Page : 464 pages
File Size : 40,8 Mb
Release : 2003
Category : Technology & Engineering
ISBN : 981279672X

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Advanced Studies of Flexible Robotic Manipulators by Fei-Yue Wang Pdf

Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering