Robotics And Control

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Robotics, Vision and Control

Peter Corke
Robotics Vision and Control Book PDF

Author : Peter Corke
Publisher : Springer
Page : 572 pages
File Size : 42,7 Mb
Release : 2011-09-05
Category : Technology & Engineering
ISBN : 9783642201448

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Robotics, Vision and Control by Peter Corke Pdf

The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC

Modern Robotics

Kevin M. Lynch,Frank C. Park
Modern Robotics Book PDF

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 47,6 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.

Robotics

Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Robotics Book PDF

Author : Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 52,8 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.

Learning for Adaptive and Reactive Robot Control

Aude Billard,Sina Mirrazavi,Nadia Figueroa
Learning for Adaptive and Reactive Robot Control Book PDF

Author : Aude Billard,Sina Mirrazavi,Nadia Figueroa
Publisher : MIT Press
Page : 425 pages
File Size : 52,6 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.

Introduction to Mobile Robot Control

Spyros G Tzafestas
Introduction to Mobile Robot Control Book PDF

Author : Spyros G Tzafestas
Publisher : Elsevier
Page : 750 pages
File Size : 50,8 Mb
Release : 2013-10-03
Category : Technology & Engineering
ISBN : 9780124171039

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Introduction to Mobile Robot Control by Spyros G Tzafestas Pdf

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background

Space Robotics: Dynamics and Control

Yangsheng Xu,Takeo Kanade
Space Robotics Dynamics and Control Book PDF

Author : Yangsheng Xu,Takeo Kanade
Publisher : Springer Science & Business Media
Page : 291 pages
File Size : 55,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461535881

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Space Robotics: Dynamics and Control by Yangsheng Xu,Takeo Kanade Pdf

Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face. The other benefit is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle, or satellite). Any inefficiency in the planning and control can considerably risk by success of the space mission. Space Robotics: Dynamics and Control presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focussing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control, and astronautical science.

Theory of Robot Control

Carlos Canudas de Wit,Bruno Siciliano,Georges Bastin
Theory of Robot Control Book PDF

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.

Control Problems in Robotics and Automation

Bruno Siciliano,Kimon P. Valavanis
Control Problems in Robotics and Automation Book PDF

Author : Bruno Siciliano,Kimon P. Valavanis
Publisher : Springer
Page : 298 pages
File Size : 48,6 Mb
Release : 2014-03-12
Category : Technology & Engineering
ISBN : 3662192047

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Control Problems in Robotics and Automation by Bruno Siciliano,Kimon P. Valavanis Pdf

Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.

Remote Control Robotics

Craig Sayers
Remote Control Robotics Book PDF

Author : Craig Sayers
Publisher : Springer Science & Business Media
Page : 260 pages
File Size : 51,9 Mb
Release : 1999
Category : Computers
ISBN : 0387985972

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Remote Control Robotics by Craig Sayers Pdf

Increasingly, robots are being used in environments inhospitable to humans such as the deep ocean, inside nuclear reactors, and in deep space. Such robots are controlled by remote links to human operators who may be close by or thousands of miles away. The techniques used to control these robots is the subject of this book. The author begins with a basic introduction to robot control and then considers the important problems to be overcome: delays or noisy control lines, feedback and response information, and predictive displays. Readers are assumed to have a basic understanding of robotics though this may be their first exposure to the subject of telerobotics. Professional engineers and roboticists will find this an invaluable introduction to this subject.

Multibody System Dynamics, Robotics and Control

Hubert Gattringer,Johannes Gerstmayr
Multibody System Dynamics Robotics and Control Book PDF

Author : Hubert Gattringer,Johannes Gerstmayr
Publisher : Springer Science & Business Media
Page : 317 pages
File Size : 53,5 Mb
Release : 2013-01-06
Category : Technology & Engineering
ISBN : 9783709112892

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Multibody System Dynamics, Robotics and Control by Hubert Gattringer,Johannes Gerstmayr Pdf

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Robot Force Control

Bruno Siciliano,Luigi Villani
Robot Force Control Book PDF

Author : Bruno Siciliano,Luigi Villani
Publisher : Springer Science & Business Media
Page : 154 pages
File Size : 55,8 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.

Passivity-Based Control and Estimation in Networked Robotics

Takeshi Hatanaka,Nikhil Chopra,Masayuki Fujita,Mark W. Spong
Passivity Based Control and Estimation in Networked Robotics Book PDF

Author : Takeshi Hatanaka,Nikhil Chopra,Masayuki Fujita,Mark W. Spong
Publisher : Springer
Page : 349 pages
File Size : 44,8 Mb
Release : 2015-04-10
Category : Technology & Engineering
ISBN : 9783319151717

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Passivity-Based Control and Estimation in Networked Robotics by Takeshi Hatanaka,Nikhil Chopra,Masayuki Fujita,Mark W. Spong Pdf

Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.

Robotics, Automation, and Control in Industrial and Service Settings

Luo, Zongwei
Robotics Automation and Control in Industrial and Service Settings Book PDF

Author : Luo, Zongwei
Publisher : IGI Global
Page : 338 pages
File Size : 40,9 Mb
Release : 2015-09-10
Category : Technology & Engineering
ISBN : 9781466686946

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Robotics, Automation, and Control in Industrial and Service Settings by Luo, Zongwei Pdf

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Advances in Robot Control

Sadao Kawamura,Mikhail Svinin
Advances in Robot Control Book PDF

Author : Sadao Kawamura,Mikhail Svinin
Publisher : Springer Science & Business Media
Page : 360 pages
File Size : 40,6 Mb
Release : 2007-07-17
Category : Technology & Engineering
ISBN : 9783540373476

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Advances in Robot Control by Sadao Kawamura,Mikhail Svinin Pdf

This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Automatic Control, Robotics, and Information Processing

Piotr Kulczycki,Józef Korbicz,Janusz Kacprzyk
Automatic Control Robotics and Information Processing Book PDF

Author : Piotr Kulczycki,Józef Korbicz,Janusz Kacprzyk
Publisher : Springer Nature
Page : 843 pages
File Size : 40,9 Mb
Release : 2020-09-03
Category : Technology & Engineering
ISBN : 9783030485870

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Automatic Control, Robotics, and Information Processing by Piotr Kulczycki,Józef Korbicz,Janusz Kacprzyk Pdf

This book presents a wide and comprehensive range of issues and problems in various fields of science and engineering, from both theoretical and applied perspectives. The desire to develop more effective and efficient tools and techniques for dealing with complex processes and systems has been a natural inspiration for the emergence of numerous fields of science and technology, in particular control and automation and, more recently, robotics. The contributions gathered here concern the development of methods and algorithms to determine best practices regarding broadly perceived decisions or controls. From an engineering standpoint, many of them focus on how to automate a specific process or complex system. From a tools-based perspective, several contributions address the development of analytic and algorithmic methods and techniques, devices and systems that make it possible to develop and subsequently implement the automation and robotization of crucial areas of human activity. All topics discussed are illustrated with sample applications.