Robotic Manipulators And Vehicles

Author : Gerasimos Rigatos,Krishna Busawon
Publisher : Springer
Page : 734 pages
File Size : 50,6 Mb
Release : 2018-05-24
Category : Technology & Engineering
ISBN : 9783319778518

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Robotic Manipulators and Vehicles by Gerasimos Rigatos,Krishna Busawon Pdf

This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Author : Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
Publisher : Springer Science & Business Media
Page : 388 pages
File Size : 43,8 Mb
Release : 2013-10-02
Category : Technology & Engineering
ISBN : 9781447154631

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Vehicle-Manipulator Systems by Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen Pdf

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.

Author : Béla Lantos,Lőrinc Márton
Publisher : Springer Science & Business Media
Page : 479 pages
File Size : 53,9 Mb
Release : 2010-12-01
Category : Technology & Engineering
ISBN : 9781849961226

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Nonlinear Control of Vehicles and Robots by Béla Lantos,Lőrinc Márton Pdf

Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

Author : Dan Zhang,Bin Wei
Publisher : CRC Press
Page : 407 pages
File Size : 47,6 Mb
Release : 2017-02-03
Category : Science
ISBN : 9781351678926

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Adaptive Control for Robotic Manipulators by Dan Zhang,Bin Wei Pdf

The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Author : Agustin Jimenez,Basil M. Al Hadithi
Publisher : BoD – Books on Demand
Page : 680 pages
File Size : 40,7 Mb
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9789533070735

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Robot Manipulators by Agustin Jimenez,Basil M. Al Hadithi Pdf

This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Author : Ranjan Vepa
Publisher : Cambridge University Press
Page : 371 pages
File Size : 47,5 Mb
Release : 2019-05-02
Category : Science
ISBN : 9781108422840

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Dynamics and Control of Autonomous Space Vehicles and Robotics by Ranjan Vepa Pdf

Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.

Author : Abhaya Pal Singh,Dipankar Deb,Himanshu Agrawal,Valentina E. Balas
Publisher : Springer Nature
Page : 138 pages
File Size : 50,9 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 : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 54,5 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 : Richard P. Paul
Publisher : Richard Paul
Page : 298 pages
File Size : 46,6 Mb
Release : 1981
Category : Computers
ISBN : 026216082X

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Robot Manipulators by Richard P. Paul Pdf

Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.

Author : Tong Heng Lee,Christopher John Harris
Publisher : World Scientific
Page : 400 pages
File Size : 43,9 Mb
Release : 1998
Category : Electronic
ISBN : 981023452X

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Adaptive Neural Network Control of Robotic Manipulators by Tong Heng Lee,Christopher John Harris Pdf

Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.

Author : A. Morecki,G. Bianchi,K. K?dzior
Publisher : Springer Science & Business Media
Page : 404 pages
File Size : 47,5 Mb
Release : 2012-12-06
Category : Science
ISBN : 9781461598824

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Theory and Practice of Robots and Manipulators by A. Morecki,G. Bianchi,K. K?dzior Pdf

The RO MAN SY Symposia have played an important role in the development of the theory and, to a lesser extent, the practice of manipulators, walking machines and robots. Based on past experience of previous symposia, which have been held over the last 10 years, the problem arose as to what to do in the future. In other words, in what direction should further symposia be organized? A panel discussion called 'Role of RO MAN SY Symposia' was held on 29 June 1984 during the final plenary session at CISM, Udine, Italy. The Members of the Organizing Committee, Professors Konstantinov, Morecki, Roth, Vukobratovic and Vertut, and other participants were asked to give their opinions on the follow ing important questions: • should we organize future symposia? if we continue, which form should we choose?: small (60-70 participants, • 35-40 invited papers); big (100-150 participants, 60-80 papers) • what kind of topics should be included?: the more theoretical-oriented; more practical-oriented; both (what proportion?) • how frequently should RO MAN SY Symposia be organized?: every other year; every third year is working well and what should be maintained? • what • what is not working well and what should be changed to increase the impact of the symposia? would like to underline that most of the participants agree that we should con tinue to hold our symposia every other year, but to limit their small form, with invited papers at high theoretical level only in mechanics, control of motion,

Author : Matthew T. Mason
Publisher : MIT Press
Page : 282 pages
File Size : 48,6 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 : D.J. Todd
Publisher : Springer Science & Business Media
Page : 238 pages
File Size : 41,8 Mb
Release : 2012-12-06
Category : Science
ISBN : 9789401167680

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Fundamentals of Robot Technology by D.J. Todd Pdf

Methods of contro1151 Mechanical master-slave telemanipulators 151 Powered telemanipulators 152 Servo control of unilateral telemanipulators 152 Bilateral servo manipulators 155 Special characteristics of teleoperators 158 Design criteria for teleoperators 159 Vehicles and transporters 160 Applications of teleoperators 161 Remote handling of radioactive materials 161 Remote handling of explosive and toxic materials 161 Telemanipulation of heavy objects 163 Underwater teleoperation 163 Teleoperation in space and planetary exploration 164 Telemanipulators for the disabled 164 Computer assisted teleoperation 166 Bibliographic notes 170 Chapter 9: Mobile robots 171 Introduction 171 Land surface robots 171 Arrangements of wheels and tracks 171 Unusual wheel and track arrangements 172 Navigation for land vehicles 174 Teleoperation 174 Dead reckoning 175 Inertial navigation 175 Tracking from a fixed base; beacons 175 Satellite navigation 175 Map matching 175 Wall following 176 Route planning 176 Control and communication 176 Sensors for mobile robots 177 Body orientation and angular rates 1 77 Body position, speed and acceleration 177 Terrain scanning 178 Types and applications of mobile robots 179 Education and research 179 Remote handling 183 Military mobile robots 183 Fire-fighting and rescue 187 Construction 188 Mining 188 Planetary exploration 188 Legged robots 188 Comparison of legs and wheels 189 Leg number and arrangement 189 Leg number 189 Leg disposition 190 Relative leg length 190 Leg construction 190 Control 191 Climbing robots 195 Robot submersibles 196 Uses of submersible robots 199 Robots in air and space 201 Space 202 Bibliographic notes 204 Chapter 10: Automated guided vehicles 205

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 44,6 Mb
Release : 2024-06-13
Category : Electronic
ISBN : 9789814485845

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Advanced Studies of Flexible Robotic Manipulators by Anonim Pdf

Author : Ciro Natale
Publisher : Springer
Page : 108 pages
File Size : 55,5 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.