Modeling And Control Of Mobile Manipulators PDF Download
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Author | : Zhijun Li |
Publisher | : CRC Press |
Total Pages | : 292 |
Release | : 2016-04-19 |
Genre | : Technology & Engineering |
ISBN | : 1466580429 |
Download Fundamentals in Modeling and Control of Mobile Manipulators Book in PDF, ePub and Kindle
Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.
Author | : Jae Hun Chung |
Publisher | : |
Total Pages | : 282 |
Release | : 1996 |
Genre | : |
ISBN | : |
Download Modeling and Control of Mobile Manipulators Book in PDF, ePub and Kindle
Author | : Spyros G Tzafestas |
Publisher | : Elsevier |
Total Pages | : 718 |
Release | : 2013-10-03 |
Genre | : Technology & Engineering |
ISBN | : 0124171036 |
Download Introduction to Mobile Robot Control Book in PDF, ePub and Kindle
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Author | : Pål Johan From |
Publisher | : Springer Science & Business Media |
Total Pages | : 402 |
Release | : 2013-10-02 |
Genre | : Technology & Engineering |
ISBN | : 1447154630 |
Download Vehicle-Manipulator Systems Book in PDF, ePub and Kindle
Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Author | : Yoshio Yamamoto |
Publisher | : |
Total Pages | : 92 |
Release | : 1994 |
Genre | : Mobile robots |
ISBN | : |
Download Coordinated Control of a Mobile Manipulator Book in PDF, ePub and Kindle
Abstract: "In this technical report, we investigate modeling, control, and coordination of mobile manipulators. A mobile manipulator in this study consists of a robotic manipulator and a mobile platform, with the manipulator being mounted atop the mobile platform. A mobile manipulator combines the dextrous manipulation capability offered by fixed- base manipulators and the mobility offered by mobile platforms. While mobile manipulators offer a tremendous potential for flexible material handling and other tasks, at the same time they bring about a number of challenging issues rather than simply increasing the structural complexity. First, combining a manipulator and a platform creates redundancy. Second, a wheeled mobile platform is subject to nonholonomic constraints. Third, there exists dynamic interaction between the manipulator and the mobile platform. Fourth, manipulators and mobile platforms have different bandwidths. Mobile platforms typically have slower dynamic response than manipulators. The objective of the thesis is to develop control algorithms that effectively coordinate manipulation and mobility of mobile manipulators. We begin with deriving the motion equations of mobile manipulators. The derivation presented here makes use of the existing motion equations of manipulators and mobile platforms, and simply introduces the velocity and acceleration dependent terms that account for the dynamic interaction between manipulators and mobile platforms. Since nonholonomic constraints play a critical role in control of mobile manipulators, we then study the control properties of nonholonomic dynamic systems, including feedback linearization and internal dynamics. Based on the newly proposed concept of preferred operating region, we develop a set of coordination algorithms for mobile manipulators. While the manipulator performs manipulation tasks, the mobile platform is controlled to always bring the configuration of the manipulator into a preferred operating region. The control algorithms for two types of tasks -- dragging motion and following motion -- are discussed in detail. The effects of dynamic interaction are also investigated. To verify the efficacy of the coordination algorithms, we conduct numerical simulations with representative task trajectories. Additionally, the control agorithms for the dragging motion and following motion have been implemented on an experimental mobile manipulator. The results from the simulation and experiment are presented to support the proposed control algorithms."
Author | : Bruno Siciliano |
Publisher | : Springer Science & Business Media |
Total Pages | : 644 |
Release | : 2010-08-20 |
Genre | : Technology & Engineering |
ISBN | : 1846286417 |
Download Robotics Book in PDF, ePub and Kindle
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Author | : Mark W Spong |
Publisher | : John Wiley & Sons |
Total Pages | : 356 |
Release | : 2008-08-04 |
Genre | : Robots |
ISBN | : 9788126517800 |
Download Robot Dynamics And Control Book in PDF, ePub and Kindle
This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Author | : Gregor Klancar |
Publisher | : Butterworth-Heinemann |
Total Pages | : 504 |
Release | : 2017-02-02 |
Genre | : Technology & Engineering |
ISBN | : 0128042389 |
Download Wheeled Mobile Robotics Book in PDF, ePub and Kindle
Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Author | : W. Khalil |
Publisher | : Butterworth-Heinemann |
Total Pages | : 503 |
Release | : 2004-07-01 |
Genre | : Computers |
ISBN | : 0080536611 |
Download Modeling, Identification and Control of Robots Book in PDF, ePub and Kindle
Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
Author | : Kevin M. Lynch |
Publisher | : Cambridge University Press |
Total Pages | : 545 |
Release | : 2017-05-25 |
Genre | : Computers |
ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.