The Near Minimum Time Control Of Open Loop Articulated Kinematic Chains

Author : Michael Edwin Kahn
Publisher : Unknown
Page : 202 pages
File Size : 52,6 Mb
Release : 1969
Category : Artificial intelligence
ISBN : STANFORD:36105025627907

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The Near-minimum-time Control of Open-loop Articulated Kinematic Chains by Michael Edwin Kahn Pdf

The time-optimal control of a system of rigid bodies connected in series by single-degree-of-freedom joints is studied. The dynamical equations of the system are highly nonlinear and a closed-form representation of the minimum-time feedback control is not possible. However, a suboptimal feedback control which provides a close approximation to the optimal control is developed. The suboptimal control is expressed in terms of switching curves for each of the system controls. These curves are obtained from the linearized equations of motion for the system. Approximations are made for the effects of gravity loads and angular velocity terms in the nonlinear equations of motion. Digital simulation is used to obtain a comparison of response of the optimal and suboptimal controls. The speed of response of the suboptimal control is found to compare quite favorably with the response speed of the optimal control. The analysis is applied to the control of three joints of a mechanical manipulator. Modifications of the suboptimal control for use in a sampled-data system are shown to result in good performance of a hydraulic manipulator under computer control. (Author).

Author : M. Vukobratovic,N. Kircanski
Publisher : Springer Science & Business Media
Page : 254 pages
File Size : 53,7 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 : Jorge Angeles
Publisher : Springer Science & Business Media
Page : 589 pages
File Size : 53,8 Mb
Release : 2013-12-09
Category : Technology & Engineering
ISBN : 9783319018515

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Fundamentals of Robotic Mechanical Systems by Jorge Angeles Pdf

The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.

Author : Michael Brady
Publisher : MIT Press
Page : 618 pages
File Size : 46,9 Mb
Release : 1982
Category : Computers
ISBN : 026202182X

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Robot Motion by Michael Brady Pdf

Dynamics; Feedback control; Trajectory planning; Compliance; Task planning.

Author : Paolo Serafini,Elisabeth Guazzelli,Bernhard Schrefler,Friedrich Pfeiffer,Franz G. Rammerstorfer
Publisher : Springer
Page : 326 pages
File Size : 51,9 Mb
Release : 2014-05-04
Category : Technology & Engineering
ISBN : 9783709129937

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On Theory and Practice of Robots and Manipulators by Paolo Serafini,Elisabeth Guazzelli,Bernhard Schrefler,Friedrich Pfeiffer,Franz G. Rammerstorfer Pdf

Author : Ranjan Vepa
Publisher : CRC Press
Page : 704 pages
File Size : 51,9 Mb
Release : 2016-10-14
Category : Technology & Engineering
ISBN : 9781315350301

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Nonlinear Control of Robots and Unmanned Aerial Vehicles by Ranjan Vepa Pdf

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Author : W. Khalil,E. Dombre
Publisher : Butterworth-Heinemann
Page : 503 pages
File Size : 51,7 Mb
Release : 2004-07-01
Category : Computers
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 : Wisama Khalil,Etienne Dombre
Publisher : CRC Press
Page : 508 pages
File Size : 46,5 Mb
Release : 2002
Category : Robots
ISBN : 1560329831

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Modeling Identification and Control of Robots by Wisama Khalil,Etienne Dombre Pdf

Author : Felix L. Chernousko,Nikolai N. Bolotnik,Valery G. Gradetsky
Publisher : CRC Press
Page : 278 pages
File Size : 41,8 Mb
Release : 1993-11-24
Category : Technology & Engineering
ISBN : 0849344573

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Manipulation RobotsDynamics, Control, and Optimization by Felix L. Chernousko,Nikolai N. Bolotnik,Valery G. Gradetsky Pdf

Addresses challenging aspects of robotics research, including the dynamics of robots with elastic parts and optimal control of manipulators. Basics in kinematics, dynamics, drives, and control and sensor systems are discussed. To more efficiently evaluate the elastic compliance of robots and their dynamic accuracy, the authors propose new computer techniques and provide much experimental data. Optimal control methods presented in the book allow robotics engineers to increase the speed and productivity of robotic operations and reduce energy consumption. New developments in robotics covered include pneumatic sensors, adaptive grippers, special robotic systems for measurement and inspection, and wall-climbing robots with technological manipulators. The book will be an important reference for mechanical engineers, electrical engineers, robotics engineers, and researchers in automatic control.

Author : Frank L. Lewis,Darren M. Dawson,Chaouki T. Abdallah
Publisher : CRC Press
Page : 646 pages
File Size : 49,6 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 : Akhlesh Lakhtakia,Raúl José Martín-Palma
Publisher : Newnes
Page : 493 pages
File Size : 40,8 Mb
Release : 2013-05-24
Category : Science
ISBN : 9780123914323

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Engineered Biomimicry by Akhlesh Lakhtakia,Raúl José Martín-Palma Pdf

Engineered Biomimicry covers a broad range of research topics in the emerging discipline of biomimicry. Biologically inspired science and technology, using the principles of math and physics, has led to the development of products as ubiquitous as VelcroTM (modeled after the spiny hooks on plant seeds and fruits). Readers will learn to take ideas and concepts like this from nature, implement them in research, and understand and explain diverse phenomena and their related functions. From bioinspired computing and medical products to biomimetic applications like artificial muscles, MEMS, textiles and vision sensors, Engineered Biomimicry explores a wide range of technologies informed by living natural systems. Engineered Biomimicry helps physicists, engineers and material scientists seek solutions in nature to the most pressing technical problems of our times, while providing a solid understanding of the important role of biophysics. Some physical applications include adhesion superhydrophobicity and self-cleaning, structural coloration, photonic devices, biomaterials and composite materials, sensor systems, robotics and locomotion, and ultra-lightweight structures. Explores biomimicry, a fast-growing, cross-disciplinary field in which researchers study biological activities in nature to make critical advancements in science and engineering Introduces bioinspiration, biomimetics, and bioreplication, and provides biological background and practical applications for each Cutting-edge topics include bio-inspired robotics, microflyers, surface modification and more

Author : M. Vukobratovic,M. Kircanski
Publisher : Springer Science & Business Media
Page : 278 pages
File Size : 51,5 Mb
Release : 2013-12-11
Category : Science
ISBN : 9783642821950

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Kinematics and Trajectory Synthesis of Manipulation Robots by M. Vukobratovic,M. Kircanski Pdf

A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.

Author : Roland Bulirsch,Dieter Kraft
Publisher : Birkhäuser
Page : 382 pages
File Size : 40,9 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783034884976

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Computational Optimal Control by Roland Bulirsch,Dieter Kraft Pdf

Resources should be used sparingly both from a point of view of economy and eco logy. Thus in controlling industrial, economical and social processes, optimization is the tool of choice. In this area of applied numerical analysis, the INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL (IFAC) acts as a link between research groups in universities, national research laboratories and industry. For this pur pose, the technical committee Mathematics of Control of IFAC organizes biennial conferences with the objective of bringing together experts to exchange ideas, ex periences and future developments in control applications of optimization. There should be a genuine feedback loop between mathematicians, computer scientists, engineers and software developers. This loop should include the design, application and implementation of algorithms. The contributions of industrial practitioners are especially important. These proceedings contain selected papers from a workshop on CONTROL Ap PLICATIONS OF OPTIMIZATION, which took place at the Fachhochschule Miinchen in September 1992. The workshop was the ninth in a series of very successful bien nial meetings, starting with the Joint Automatic Control Conference in Denver in 1978 and followed by conferences in London, Oberpfaffenhofen, San Francisco, Ca pri, Tbilisi and Paris. The workshop was attended by ninety researchers from four continents. This volume represents the state of the art in the field, with emphasis on progress made since the publication of the proceedings of the Capri meeting, edited by G. di Pillo under the title 'Control Applications of Optimization and Nonlinear Programming'.

Author : Reza N. Jazar
Publisher : Springer Science & Business Media
Page : 888 pages
File Size : 51,5 Mb
Release : 2010-11-05
Category : Technology & Engineering
ISBN : 9781441917560

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Theory of Applied Robotics by Reza N. Jazar Pdf

The second edition of this book would not have been possible without the comments and suggestions from my students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped me refine and clarify the material. My intention when writing this book was to develop material that I would have liked to had available as a student. Hopefully, I have succeeded in developing a reference that covers all aspects of robotics with sufficient detail and explanation. The first edition of this book was published in 2007 and soon after its publication it became a very popular reference in the field of robotics. I wish to thank the many students and instructors who have used the book or referenced it. Your questions, comments and suggestions have helped me create the second edition. Preface This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems.

Author : Giuseppe Carbone,Fernando Gomez-Bravo
Publisher : Springer
Page : 522 pages
File Size : 47,5 Mb
Release : 2015-03-12
Category : Technology & Engineering
ISBN : 9783319147055

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Motion and Operation Planning of Robotic Systems by Giuseppe Carbone,Fernando Gomez-Bravo Pdf

This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.