Contribution a l'etude des robots mobiles
Author | : Mohammed Tounsi |
Publisher | : |
Total Pages | : 0 |
Release | : 1995 |
Genre | : |
ISBN | : |
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Author | : Mohammed Tounsi |
Publisher | : |
Total Pages | : 0 |
Release | : 1995 |
Genre | : |
ISBN | : |
Author | : Hideo Fujimoto |
Publisher | : World Scientific |
Total Pages | : 1387 |
Release | : 2010 |
Genre | : Technology & Engineering |
ISBN | : 9814329924 |
This book provides a comprehensive account of stochastic filtering as a modeling tool in finance and economics. It aims to present this very important tool with a view to making it more popular among researchers in the disciplines of finance and economics. It is not intended to give a complete mathematical treatment of different stochastic filtering approaches, but rather to describe them in simple terms and illustrate their application with real historical data for problems normally encountered in these disciplines. Beyond laying out the steps to be implemented, the steps are demonstrated in the context of different market segments. Although no prior knowledge in this area is required, the reader is expected to have knowledge of probability theory as well as a general mathematical aptitude. Its simple presentation of complex algorithms required to solve modeling problems in increasingly sophisticated financial markets makes this book particularly valuable as a reference for graduate students and researchers interested in the field. Furthermore, it analyses the model estimation results in the context of the market and contrasts these with contemporary research publications. It is also suitable for use as a text for graduate level courses on stochastic modeling.
Author | : Hiromi Mochiyama |
Publisher | : World Scientific |
Total Pages | : 1387 |
Release | : 2010-08-23 |
Genre | : Technology & Engineering |
ISBN | : 9814462578 |
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2010 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Author | : Etienne Dombre |
Publisher | : John Wiley & Sons |
Total Pages | : 304 |
Release | : 2013-03-01 |
Genre | : Technology & Engineering |
ISBN | : 1118614100 |
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 | : MOHAMMED.. TOUNSI |
Publisher | : |
Total Pages | : 219 |
Release | : 1995 |
Genre | : |
ISBN | : |
LES ROBOTS MOBILES, CONTRAIREMENT AUX ROBOTS MANIPULATEURS, ONT LA PARTICULARITE MAJEURE D'ETRE REGIS PAR DES EQUATIONS DE CONTRAINTES NON HOLONOMES DUES AUX CONTACTS DES ROUES AVEC LE SOL. CES CONTRAINTES IMPLIQUENT, POUR CERTAINES STRUCTURES DE ROBOTS, UNE RESTRICTION SUR LEUR CAPACITE DE DEPLACEMENT. CETTE RESTRICTION QUI EMPECHE LES ROBOTS MOBILES D'AVOIR DES MOUVEMENTS EN CRABE EST GENERALEMENT APPELEE CONTRAINTE DE NON HOLONOMIE. LA NON HOLONOMIE D'UN ROBOT MOBILE COMPLIQUE LA GENERATION DE MOUVEMENTS REALISABLES, ELLE NECESSITE UNE ANALYSE ET UNE SYNTHESE SPECIFIQUES DES BOUCLES DE COMMANDES PAR RETOUR D'ETAT. LE PROBLEME DE LA COMMANDE D'UN ROBOT MOBILE NON HOLONOME RESIDE DANS LE FAIT QU'IL N'EXISTE PAS DE RETOUR D'ETAT CONTINU CAPABLE DE CONDUIRE LE ROBOT A UNE POSITION ET UNE ORIENTATION DESIREES ET CELA QUELLES QUE SOIENT SA POSITION ET SON ORIENTATION INITIALES. PAR CONTRE, SI ON GENERE UN MOUVEMENT DIT DE REFERENCE PERMETTANT D'ATTEINDRE LA POSITION ET L'ORIENTATION DESIREES, ALORS IL EST POSSIBLE DE TROUVER UN RETOUR D'ETAT STABLE PERMETTANT AU ROBOT DE SUIVRE CETTE CONSIGNE. DANS CETTE THESE, NOUS TRAITONS TOUTES LES ETAPES NECESSAIRES POUR DEVELOPPER UN MODULE ROBUSTE DE COMMANDE DE MOUVEMENTS DANS L'ESPACE CARTESIEN POUR LE ROBOT MELODY (MOBILE D'EXTERIEUR A LOCALISATION DYNAMIQUE) DU L.A.N. CES ETAPES SONT LES SUIVANTES: ? ELABORATION D'UN MODELE DYNAMIQUE REALISTE QUI TIENT COMPTE DES FROTTEMENTS DES ROUES, AINSI QUE DES CONTRAINTES CINEMATIQUES SUBIES PAR LE ROBOT. ? DEVELOPPEMENT D'UN MODULE DE PLANIFICATION DE CHEMINS ET DE GENERATION DE MOUVEMENTS PROPRE AUX ROBOTS DE TYPE MELODY. ? IDENTIFICATION DES PARAMETRES DYNAMIQUES DU ROBOT MELODY. ? MISE EN UVRE SUR MELODY D'UNE LOI DE COMMANDE NON LINEAIRE. COMPARAISON DES PERFORMANCES OBTENUES AVEC ET SANS MODELE DYNAMIQUE. LES RESULTATS OBTENUS MONTRENT QUE LA PRISE EN COMPTE D'UN GENERATEUR DE MOUVEMENT ADAPTE ET LA MISE EN UVRE DE LOIS DE COMMANDES UTILISANT LE MODELE DYNAMIQUE PERMET D'AMELIORER DE MANIERE SIGNIFICATIVE LES PERFORMANCES DE POURSUITE CARTESIENNE DU ROBOT
Author | : |
Publisher | : |
Total Pages | : 520 |
Release | : 1991 |
Genre | : Aeronautics |
ISBN | : |
Author | : |
Publisher | : |
Total Pages | : 494 |
Release | : 1990 |
Genre | : Automation |
ISBN | : |
Author | : Management Association, Information Resources |
Publisher | : IGI Global |
Total Pages | : 1801 |
Release | : 2013-10-31 |
Genre | : Technology & Engineering |
ISBN | : 146664608X |
"This book explores some of the most recent developments in robotic motion, artificial intelligence, and human-machine interaction, providing insight into a wide variety of applications and functional areas"--Provided by publisher.
Author | : Ceccarelli, Marco |
Publisher | : IGI Global |
Total Pages | : 442 |
Release | : 2012-03-31 |
Genre | : Technology & Engineering |
ISBN | : 1466602929 |
"This book offers the latest research within the field of service robotics, using a mixture of case studies, research, and future direction in this burgeoning field of technology"--
Author | : Wilfrid Perruquetti |
Publisher | : CRC Press |
Total Pages | : 440 |
Release | : 2002-01-29 |
Genre | : Technology & Engineering |
ISBN | : 9780203910856 |
Provides comprehensive coverage of the most recent developments in the theory of non-Archimedean pseudo-differential equations and its application to stochastics and mathematical physics--offering current methods of construction for stochastic processes in the field of p-adic numbers and related structures. Develops a new theory for parabolic equat