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Author: Tyler Schilling
Publisher: John Wiley & Sons
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 184
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Book Description
&Quot;Telerobotic Applications provides an overview of recent telerobotic developments and resulting applications particularly suitable for hazardous or inaccessible environments. These specially commissioned articles demonstrate a broad range of task complexity and this should reward the reader with insights into the difficulties routinely encountered in remote applications.". "Examples are mainly taken from the nuclear industry and include remote sampling systems, tele-operated vehicle and manipulator systems, and climbing/walking robots for operation within hostile environments. These systems must negotiate impractically small openings, endure unreasonable temperatures, and withstand various forms of radiation while performing some difficult tasks."--BOOK JACKET.
Author: Tyler Schilling
Publisher: John Wiley & Sons
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 184
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Book Description
&Quot;Telerobotic Applications provides an overview of recent telerobotic developments and resulting applications particularly suitable for hazardous or inaccessible environments. These specially commissioned articles demonstrate a broad range of task complexity and this should reward the reader with insights into the difficulties routinely encountered in remote applications.". "Examples are mainly taken from the nuclear industry and include remote sampling systems, tele-operated vehicle and manipulator systems, and climbing/walking robots for operation within hostile environments. These systems must negotiate impractically small openings, endure unreasonable temperatures, and withstand various forms of radiation while performing some difficult tasks."--BOOK JACKET.
Author: Manuel Ferre
Publisher: Springer
ISBN: 3540713646
Category : Technology & Engineering
Languages : en
Pages : 502
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Book Description
A fascinating book that covers in detail all of the most recent advances in Telerobotics. A must-read for scientists, researchers and students in teleoperation, it describes everything from methods and experimental results to applications and developments. Its three sections cover human system interfaces, control, and applications.
Author: Kwang J. Kim
Publisher: Springer Science & Business Media
ISBN: 1846283728
Category : Technology & Engineering
Languages : en
Pages : 288
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Book Description
This book covers the fundamental properties, modeling, and demonstration of Electroactive polymers in robotic applications. It particularly details artificial muscles and sensors. In addition, the book discusses the properties and uses in robotics applications of ionic polymer–metal composite actuators and dielectric elastomers.
Author:
Publisher:
ISBN:
Category : Large space structures (Astronautics)
Languages : en
Pages : 280
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Book Description
Author: Carl F. Ruoff
Publisher: AIAA
ISBN: 9781600864148
Category : Manipulators (Mechanism)
Languages : en
Pages : 528
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Book Description
Author: Chenguang Yang
Publisher: Springer
ISBN: 9811008302
Category : Computers
Languages : en
Pages : 428
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Book Description
This book presents in a systematic manner the advanced technologies used for various modern robot applications. By bringing fresh ideas, new concepts, novel methods and tools into robot control, robot vision, human robot interaction, teleoperation of robot and multiple robots system, we are to provide a state-of-the-art and comprehensive treatment of the advanced technologies for a wide range of robotic applications. Particularly, we focus on the topics of advanced control and obstacle avoidance techniques for robot to deal with unknown perturbations, of visual servoing techniques which enable robot to autonomously operate in a dynamic environment, and of advanced techniques involved in human robot interaction. The book is primarily intended for researchers and engineers in the robotic and control community. It can also serve as complementary reading for robotics at the both graduate and undergraduate levels.
Author: National Research Council
Publisher: National Academies Press
ISBN: 0309051355
Category : Computers
Languages : en
Pages : 557
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Book Description
Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Author: Jacob Rosen
Publisher: Springer Science & Business Media
ISBN: 144191126X
Category : Technology & Engineering
Languages : en
Pages : 827
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Book Description
Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
Author: Goundar, Sam
Publisher: IGI Global
ISBN: 1799833771
Category : Computers
Languages : en
Pages : 311
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Book Description
Industrial internet of things (IIoT) is changing the face of industry by completely redefining the way stakeholders, enterprises, and machines connect and interact with each other in the industrial digital ecosystem. Smart and connected factories, in which all the machinery transmits real-time data, enable industrial data analytics for improving operational efficiency, productivity, and industrial processes, thus creating new business opportunities, asset utilization, and connected services. IIoT leads factories to step out of legacy environments and arcane processes towards open digital industrial ecosystems. Innovations in the Industrial Internet of Things (IIoT) and Smart Factory is a pivotal reference source that discusses the development of models and algorithms for predictive control of industrial operations and focuses on optimization of industrial operational efficiency, rationalization, automation, and maintenance. While highlighting topics such as artificial intelligence, cyber security, and data collection, this book is ideally designed for engineers, manufacturers, industrialists, managers, IT consultants, practitioners, students, researchers, and industrial industry professionals.
Author: John Scot Hart Jr
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
The objective of bilateral telerobotic control architectures has long been to provide as tight a connection as possible between a human operator and the remote environment. Ideally the telerobot would be completely transparent allowing the user to feel as if they were directly touching the remote environment. The physical reality of remote manipulation requires the telerobot to consist of a master and a slave robot as well as a control system to connect the two devices. Unfortunately, all three of these systems have dynamics that limit the transparency of the overall telerobot. In particular, transparency is severely limited when using large industrial-like slave robots. The large internal friction forces, arising from high gear ratio actuators, as well as the large inertial forces, arising from the heavy linkages and reflected motor inertia, make it very difficult for the user to distinguish between forces arising from contact with the remote environment and forces arising from the natural dynamics of the slave robot. To improve transparency of telerobots using industrial-like slaves, force control can be applied around the slave device in an attempt to ensure the force applied to the environment by the slave tracks the desired force generated by the telerobotic control algorithm. Most force control algorithms however are plagued by instability when trying to make and maintain contact with stiff environments resulting in a persistent and potentially dangerous hammering of the environment by the slave known as contact instability. The focus of this thesis is to develop a force control algorithm that can be applied to an industrial-like slave device to improve the transparency of the overall telerobot without decreasing stability. Included in this thesis is an analysis of the dynamic interaction between the slave robot, the force control algorithm, the remote environment, and the human operator which shows that contact instability is caused by unmodeled yet fundamentally unavoidable lags in the control system such as amplifier roll-off or sensor bandwidth limitations. The analysis further shows that in order to have guaranteed stability with all possible combinations of human and environment impedances, a condition known as absolute stability, it is very difficult if not impossible to hide any of the slave's inertia from either the environment or the user. Based on this analysis, a model-based force control algorithm is developed that focuses control effort on rejecting the friction in the system without attempting to hide any of the slave's mass. The controller simulates a frictionless model of the robot used to provide the ideal trajectory the robot would take in response to the forces applied by both the user and the environment. A velocity controller is then used to make the robot track this idealized trajectory. This model-based force controller achieves perfect steady state force tracking when in contact, and is provably absolutely stable both for linear one degree of freedom (DOF) robots and nonlinear multi-DOF robots. This model-based force control algorithm represents a significant contribution to the field of telerobotics because it allows control engineers to utilize preexisting and well understood telerobotic control algorithms originally designed for slaves with minimal friction on telerobots using industrial-like slaves where friction is clearly a dominate force. Analytical and experimental results show that the addition of model-based force control around these industrial-like slaves improve the transparency of the telerobot, regardless of the specific telerobotic control architecture being used, without decreasing the overall robustness of the system.
