Numerical Modelling In Robotics

Author : Edgar Alonso Martínez García
Publisher : OmniaScience
Page : 467 pages
File Size : 54,7 Mb
Release : 2015-10-06
Category : Technology & Engineering
ISBN : 9788494211881

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Numerical Modelling in Robotics by Edgar Alonso Martínez García Pdf

Modern robotic systems are tied to operate autonomously in real-world environments performing a variety of complex tasks. Autonomous robots must rely on fundamental capabilities such as locomotion, trajectory tracking control, multi-sensor fusion, task/path planning, navigation, and real-time perception. Combining this knowledge is essential to design rolling, walking, aquatic, and hovering robots that sense and self-control. This book contains a mathematical modelling framework to support the learning of modern robotics and mechatronics, aimed at advanced undergraduates or first-year PhD students, as well as researchers and practitioners. The volume exposes a solid understanding of mathematical methods as a common modelling framework to properly interpret advanced robotic systems. Including numerical approximations, solution of linear and non-linear systems of equations, curves fitting, differentiation and integration of functions. The book is suitable for courses on robotics, mechatronics, sensing models, vehicles design and control, modelling, simulation, and mechanisms analysis. It is organised with 17 chapters divided in five parts that conceptualise classical mechanics to model a wide variety of applied robotics. It comprehends a hover-craft, an amphibious hexapod, self-reconfiguration and under-actuation of rolling and passive walking robots with Hoekens, Klann, and Jansen limbs for bipedal, quadruped, and octapod robots.

Author : M. Osman Tokhi,Abul K.M. Azad
Publisher : IET
Page : 579 pages
File Size : 55,9 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 : Sisil Kumarawadu
Publisher : Alpha Science International, Limited
Page : 0 pages
File Size : 50,5 Mb
Release : 2009
Category : Technology & Engineering
ISBN : 1842654705

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Modeling and Control of Vehicular and Robotic Systems by Sisil Kumarawadu Pdf

Modeling and Control of Vehicular and Robotic Systems provides a comprehensive coverage of mathematical modeling and model-based control of autonomous vehicular and robotic systems based on three broad application areas, namely, rigid robot systems (with special emphasis on active vision heads, which are rare in contemporary literature), ground vehicles, and surface vehicles. Two main drawbacks of classical methods of model based controller synthesis and implementation, i.e. the need of an accurate knowledge of the dynamics that is a strong requirement in practice and velocity feedback of all degrees-of-freedom are thoroughly addressed. To overcome these deficiencies, design and implementation issues of online adaptive neural networks-based dynamic compensators and controller-observer systems have been included. The related issues of modeling, controller design, stability analysis, sensor requirements and options, and numerical simulations are also presented.

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 46,7 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 : Paul G. Ranky,Chung You Ho
Publisher : Springer
Page : 384 pages
File Size : 55,6 Mb
Release : 1985
Category : Computers
ISBN : UOM:39015023893095

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Robot Modelling by Paul G. Ranky,Chung You Ho Pdf

This book provides a step-by-step survey of the theory and applications of industrial robots. It includes case studies, numerical examples, and sample robot programs. Robot Modeling develops a mathematical model that is general in purpose and applicable to any robot.

Author : W. Khalil,E. Dombre
Publisher : Butterworth-Heinemann
Page : 500 pages
File Size : 50,6 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 : Samsul Ariffin Abdul Karim
Publisher : Unknown
Page : 128 pages
File Size : 50,8 Mb
Release : 2021
Category : Electronic books
ISBN : 9811589887

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Theoretical, Modelling and Numerical Simulations Toward Industry 4.0 by Samsul Ariffin Abdul Karim Pdf

This book presents theoretical modeling and numerical simulations applied to drive several applications towards Industrial Revolution 4.0 (IR 4.0). The topics discussed range from theoretical parts to extensive simulations involving many efficient algorithms as well as various statistical techniques. This book is suitable for postgraduate students, researchers as well as other scientists who are working in mathematics, statistics and numerical modeling and simulation.

Author : M. Vukobratovic,N. Kircanski
Publisher : Springer Science & Business Media
Page : 254 pages
File Size : 42,9 Mb
Release : 2013-12-11
Category : Computers
ISBN : 9783642821981

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Real-Time Dynamics of Manipulation Robots by M. Vukobratovic,N. Kircanski Pdf

This is the fourth book from the Series "Scientific Fundamentals of Ro botics". The first two volumes have established abackqround for studying the dynamics and control of robots. While the first book was exclusive ly devoted to the dynamics of active spatial mechanisms, the second treated the problems of the dynamic control of manipulation robots. In contrast to the first two books, where recursive computer-aided me thods for setting robot dynamic equations where described, this mono graph presents a new approach to the formation of robot dynamics. The goal is to achieve the real-time model computation using up-to-date mi crocomputers. The presented concept could be called a numeric-symbolic, or analytic, approach to robot modelling. It will be shown that the generation of analytical robot model may give new excellent possibili ties concerning real-time applications. It is of essential importance in synthesizing the algorithms for nonadaptive and adaptive control of manipulation robots. If should be pointed out that the high computational efficiency has been achieved by off-line computer-aided preparation of robot equations. The parameters of a specified robot must be given in advance. This, af ter each significant variation in robot structure (geometrical and dy namical parameters) ,we must repeat the off-line stage. Thus is why the numerical procedures will always have their place in studying the dy namic properties of robotic systems. This monograph is organized in 5 chapters.

Author : Cheng Siong Chin,Rongxin Cui
Publisher : MDPI
Page : 242 pages
File Size : 53,5 Mb
Release : 2020-04-24
Category : Science
ISBN : 9783039281329

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Intelligent Marine Robotics Modelling, Simulation and Applications by Cheng Siong Chin,Rongxin Cui Pdf

The biennial Congress of the Italian Society of Oral Pathology and Medicine (SIPMO) is an International meeting dedicated to the growing diagnostic challenges in the oral pathology and medicine field. The III International and XV National edition will be a chance to discuss clinical conditions which are unusual, rare, or difficult to define. Many consolidated national and international research groups will be involved in the debate and discussion through special guest lecturers, academic dissertations, single clinical case presentations, posters, and degree thesis discussions. The SIPMO Congress took place from the 17th to the 19th of October 2019 in Bari (Italy), and the enclosed copy of Proceedings is a non-exhaustive collection of abstracts from the SIPMO 2019 contributions.

Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Page : 280 pages
File Size : 55,8 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447100256

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Mobile Robotics by Ulrich Nehmzow Pdf

Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18

Author : Ulrich Nehmzow
Publisher : Springer Science & Business Media
Page : 249 pages
File Size : 44,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447133926

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Mobile Robotics: A Practical Introduction by Ulrich Nehmzow Pdf

This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.

Author : Cristian Mahulea,Marius Kloetzer,Ramon Gonzalez
Publisher : John Wiley & Sons
Page : 240 pages
File Size : 46,8 Mb
Release : 2020-01-09
Category : Technology & Engineering
ISBN : 9781119486329

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Path Planning of Cooperative Mobile Robots Using Discrete Event Models by Cristian Mahulea,Marius Kloetzer,Ramon Gonzalez Pdf

Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.

Author : Concepción A. Monje,Cecilia Laschi
Publisher : Frontiers Media SA
Page : 175 pages
File Size : 49,8 Mb
Release : 2021-07-14
Category : Technology & Engineering
ISBN : 9782889710478

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Advances in Modelling and Control of Soft Robots by Concepción A. Monje,Cecilia Laschi Pdf

Author : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 49,9 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 : Albert Y Zomaya
Publisher : World Scientific Publishing Company
Page : 312 pages
File Size : 50,8 Mb
Release : 1993-01-29
Category : Computers
ISBN : 9789813104549

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Modelling and Simulation of Robot Manipulators by Albert Y Zomaya Pdf

This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes “benchmark” results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research. Contents:IntroductionThe Parallel Processing ApproachRobot KinematicsComputing the JacobianInverse Jacobian ComputationRobot DynamicsParallel Computations of Robot DynamicsTuning of Robot DynamicsConcluding RemarksAppendix AAppendix BAppendix CAppendix D Readership: Engineers and computer scientists.