Parallel Processing of Manipulator Dynamics Incorporating Frictional Effects PDF Download
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Author: Charles Dhanaraj
Publisher:
ISBN:
Category : Friction
Languages : en
Pages : 0
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Book Description
Author: Charles Dhanaraj
Publisher:
ISBN:
Category : Friction
Languages : en
Pages : 0
Get Book Here
Book Description
![Parallel Processing of Manipulator Dynamics Incorporating Frictional Effects [microform] PDF](https://books.google.com/books/content/images/frontcover/o0f2SgAACAAJ?fife=w80-h100)
Author: Charles Dhanaraj
Publisher: National Library of Canada = Bibliothèque nationale du Canada
ISBN:
Category : Friction
Languages : en
Pages : 404
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Book Description
Author:
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 446
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Book Description
Author: Albert Y. Zomaya
Publisher:
ISBN: 9789814354721
Category :
Languages : en
Pages : 317
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Book Description
Author:
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 694
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Book Description
Author:
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 624
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Book Description
Author:
Publisher:
ISBN:
Category : Mechanics, Applied
Languages : en
Pages : 384
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 380
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Book Description
Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Author: S. Sitharama Iyengar
Publisher:
ISBN:
Category : Autonomous robots
Languages : en
Pages : 544
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Book Description
Author: Sébastien Briot
Publisher: Springer
ISBN: 3319197886
Category : Technology & Engineering
Languages : en
Pages : 356
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Book Description
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
