Robot Force Control

Author : Bruno Siciliano,Luigi Villani
Publisher : Springer Science & Business Media
Page : 154 pages
File Size : 50,5 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 : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 54,6 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 : Dimitry M. Gorinevsky, Alexander M. Formalsky, Anatoly YU. Schneider
Publisher : Formalskii Alexander
Page : 364 pages
File Size : 45,9 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.

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 47,6 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.

Author : Frank L. Lewis,Darren M. Dawson,Chaouki T. Abdallah
Publisher : CRC Press
Page : 646 pages
File Size : 55,7 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 : H. Asada,J.-J. E. Slotine
Publisher : John Wiley & Sons
Page : 286 pages
File Size : 55,6 Mb
Release : 1991-01-16
Category : Technology & Engineering
ISBN : 0471830291

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Robot Analysis and Control by H. Asada,J.-J. E. Slotine Pdf

Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.

Author : Ryszard Jabloński,Tomaš Březina
Publisher : Springer Science & Business Media
Page : 742 pages
File Size : 44,5 Mb
Release : 2011-09-25
Category : Technology & Engineering
ISBN : 9783642232442

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Mechatronics by Ryszard Jabloński,Tomaš Březina Pdf

The book “Mechatronics: Recent Technological and Scientific Advances” provides comprehensive and accessible coverage of the evolving disciplines of mechatronics for nanotechnology, automatic control & robotics, biomedical engineering, design manufacturing and testing of MEMS, metrology, photonics, mechatronic products majors. It is already the third volume following the previous editions in 2007 and 2009 providing a recent state of advances in mechatronics presented on the 9th International Conference Mechatronics 2011, hosted this year at the Faculty of Mechatronics, Warsaw University of Technology, Poland. The carefully selected contributions give an insight into the current development of these scientific disciplines, present the new results of research and development and indicate the trends of development in the interdisciplinary field of mechatronics systems. Even though many people believe that the presence of mechanical, electrical, electronic components, and computers make a system mechatronics, others do not feel the same as there is nothing wrong with the individual identity. The enclosed material is original, and reflects the main research tendencies and developments in mechatronics among Mechatronics 2011 contributing countries. It helps to acquire the mix of skills needed to comprehend and design mechatronic systems and also provides with the frame of understanding to develop a truly interdisciplinary and integrated approach to engineering. The enclosed material is original, and reflects the main research tendencies and developments in mechatronics among Mechatronics 2011 contributing countries. It helps to acquire the mix of skills needed to comprehend and design mechatronic systems and also provides with the frame of understanding to develop a truly interdisciplinary and integrated approach to engineering.

Author : Chien Chern Cheah,Xiang Li
Publisher : Springer
Page : 228 pages
File Size : 50,8 Mb
Release : 2015-04-09
Category : Technology & Engineering
ISBN : 9789812870629

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Task-Space Sensory Feedback Control of Robot Manipulators by Chien Chern Cheah,Xiang Li Pdf

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.

Author : Ciro Natale
Publisher : Springer
Page : 108 pages
File Size : 43,9 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.

Author : Lorenzo Sciavicco,Bruno Siciliano
Publisher : Springer Science & Business Media
Page : 391 pages
File Size : 54,6 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 : Joris de Schutter,Johan Baeten
Publisher : Springer Science & Business Media
Page : 208 pages
File Size : 44,9 Mb
Release : 2003-09-22
Category : Technology & Engineering
ISBN : 3540404759

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Integrated Visual Servoing and Force Control by Joris de Schutter,Johan Baeten Pdf

Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on an industrial robot. The presented approach and its potential impact on the performance of the next generation of robots is starting to be recognized by major manufacturers worldwide.

Author : Carlos Canudas de Wit,Bruno Siciliano,Georges Bastin
Publisher : Springer Science & Business Media
Page : 392 pages
File Size : 44,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447115014

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Theory of Robot Control by Carlos Canudas de Wit,Bruno Siciliano,Georges Bastin Pdf

A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.

Author : Frank L. Lewis,Chaouki T. Abdallah,D. M. Dawson
Publisher : MacMillan Publishing Company
Page : 450 pages
File Size : 45,6 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 : Tine Lefebvre,Herman Bruyninckx,Joris de Schutter
Publisher : Springer
Page : 0 pages
File Size : 54,6 Mb
Release : 2005-12-13
Category : Technology & Engineering
ISBN : 9783540315049

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Nonlinear Kalman Filtering for Force-Controlled Robot Tasks by Tine Lefebvre,Herman Bruyninckx,Joris de Schutter Pdf

This monograph focuses on how to achieve more robot autonomy by means of reliable processing skills. "Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy. Kalman filtering techniques are applied to identify the contact state based on force sensing between a grasped object and the environment. The potential of this work is to be found not only for industrial robot operation in space, sub-sea or nuclear scenarios, but also for service robots operating in unstructured environments co-habited by humans where autonomous compliant tasks require active sensing.

Author : F W Lewis,S. Jagannathan,A Yesildirak
Publisher : CRC Press
Page : 468 pages
File Size : 52,5 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.