MINIMUM-COST CONTROL OF ROBOTIC MANIPULATORS WITH GEOMETRIC PATH CONSTRAINTS PDF Download
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Author: NEIL DAIVD MCKAY
Publisher:
ISBN:
Category :
Languages : en
Pages : 318
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Book Description
Author: NEIL DAIVD MCKAY
Publisher:
ISBN:
Category :
Languages : en
Pages : 318
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 704
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Book Description
Author: Tobias Bruckmann
Publisher: Springer Science & Business Media
ISBN: 3642319874
Category : Technology & Engineering
Languages : en
Pages : 443
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Book Description
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Author: Mark W. Spong
Publisher: Institute of Electrical & Electronics Engineers(IEEE)
ISBN:
Category : Computers
Languages : en
Pages : 560
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Book Description
Author:
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 664
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Book Description
Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 9048192625
Category : Technology & Engineering
Languages : en
Pages : 551
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Book Description
The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.
Author: n. harris mcclamroch
Publisher:
ISBN:
Category :
Languages : en
Pages : 46
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Book Description
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: L. Basañez
Publisher: Pergamon
ISBN:
Category : Computers
Languages : en
Pages : 584
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Book Description
Author: Witold Jacak
Publisher: Springer Science & Business Media
ISBN: 0306469677
Category : Computers
Languages : en
Pages : 313
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Book Description
Here is a comprehensive presentation of methodology for the design and synthesis of an intelligent complex robotic system, connecting formal tools from discrete system theory, artificial intelligence, neural network, and fuzzy logic. The necessary methods for solving real time action planning, coordination and control problems are described. A notable chapter presents a new approach to intelligent robotic agent control acting in a realworld environment based on a lifelong learning approach combining cognitive and reactive capabilities. Another key feature is the homogeneous description of all solutions and methods based on system theory formalism.
