Modelling And Simulation Of Robot Manipulators: A Parallel Processing Approach PDF Download
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Author: Albert Y Zomaya
Publisher: World Scientific Publishing Company
ISBN: 9813104546
Category : Computers
Languages : en
Pages : 317
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Book Description
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.
Author: Albert Y Zomaya
Publisher: World Scientific Publishing Company
ISBN: 9813104546
Category : Computers
Languages : en
Pages : 317
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Book Description
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.
Author: Etienne Dombre
Publisher: John Wiley & Sons
ISBN: 1118614100
Category : Technology & Engineering
Languages : en
Pages : 304
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Book Description
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Author: A. Fijany
Publisher: World Scientific
ISBN: 9789810206635
Category : Technology & Engineering
Languages : en
Pages : 266
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Book Description
This book presents an extensive survey of the state-of-the-art research in parallel computational algorithms and architectures for robot manipulator control and simulation. It deals not only with specifics but also includes general and broader issues which serve as a useful foundation to the topic. The educational flavor of the book makes it a necessary resource for researchers, engineers and students wanting to be familiarized with the potential offered by the application of parallel processing to robotic problems, and its current issues and trends.
Author: Agustin Jimenez
Publisher: BoD – Books on Demand
ISBN: 9533070730
Category : Technology & Engineering
Languages : en
Pages : 680
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Book Description
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: Lorenzo Sciavicco
Publisher: Springer Science & Business Media
ISBN: 1447104498
Category : Technology & Engineering
Languages : en
Pages : 391
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Book Description
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: Serdar Küçük
Publisher: BoD – Books on Demand
ISBN: 9535104373
Category : Computers
Languages : en
Pages : 472
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Book Description
The robotics is an important part of modern engineering and is related to a group of branches such as electric
Author: Patricia Melin
Publisher: CRC Press
ISBN: 1000611965
Category : Mathematics
Languages : en
Pages : 149
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Book Description
These authors use soft computing techniques and fractal theory in this new approach to mathematical modeling, simulation and control of complexion-linear dynamical systems. First, a new fuzzy-fractal approach to automated mathematical modeling of non-linear dynamical systems is presented. It is illustrated with examples on the PROLOG programming la
Author: M. Osman Tokhi
Publisher: IET
ISBN: 0863414486
Category : Technology & Engineering
Languages : en
Pages : 579
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Book Description
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: John Demiris
Publisher: World Scientific
ISBN: 9810243200
Category : Computers
Languages : en
Pages : 220
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Book Description
Annotation Robots are being used in increasingly complicated and demanding tasks, often in environments that are complex or even hostile. Underwater, space and volcano exploration are just some of the activities that robots are taking part in, mainly because the environments that are being explored are dangerous for humans. Robots can also inhabit dynamic environments, for example to operate among humans, not just in factories, but also taking on more active roles. Recently, for instance, they have made their way into the home entertainment market. Given the variety of situations that robots will be placed in, learning becomes increasingly important. Robot learning is essentially about equipping robots with the capacity to improve their behaviour over time, based on their incoming experiences. The papers in this volume present a variety of techniques. Each paper provides a mini-introduction to a subfield of robot learning. Some also give a fine introduction to the field of robot learning as a whole. Thereis one unifying aspect to the work reported in the book, namely its interdisciplinary nature, especially in the combination of robotics, computer science and biology. This approach has two important benefits: first, the study of learning in biological systems can provide robot learning scientists and engineers with valuable insights into learning mechanisms of proven functionality and versatility; second, computational models of learning in biological systems, and their implementation in simulated agents and robots, can provide researchers of biological systems with a powerful platform for the development and testing of learning theories.
Author: Charles Dhanaraj
Publisher:
ISBN:
Category : Friction
Languages : en
Pages : 404
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Book Description
