Modeling And Control Of Robot Manipulators PDF Download
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Author | : Lorenzo Sciavicco |
Publisher | : Springer Science & Business Media |
Total Pages | : 391 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1447104498 |
Download Modelling and Control of Robot Manipulators Book in PDF, ePub and Kindle
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
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 | : Abhaya Pal Singh |
Publisher | : Springer Nature |
Total Pages | : 138 |
Release | : 2020-10-15 |
Genre | : Technology & Engineering |
ISBN | : 3030582477 |
Download Fractional Modeling and Controller Design of Robotic Manipulators Book in PDF, ePub and Kindle
This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.
Author | : Henry W. Stone |
Publisher | : Springer Science & Business Media |
Total Pages | : 258 |
Release | : 1987-09-30 |
Genre | : Technology & Engineering |
ISBN | : 9780898382372 |
Download Kinematic Modeling, Identification, and Control of Robotic Manipulators Book in PDF, ePub and Kindle
The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.
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 | : Etienne Dombre |
Publisher | : John Wiley & Sons |
Total Pages | : 304 |
Release | : 2013-03-01 |
Genre | : Technology & Engineering |
ISBN | : 1118614100 |
Download Robot Manipulators Book in PDF, ePub and Kindle
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 | : Rafael Kelly |
Publisher | : Springer Science & Business Media |
Total Pages | : 746 |
Release | : 2005-06-27 |
Genre | : Technology & Engineering |
ISBN | : 9781852339944 |
Download Control of Robot Manipulators in Joint Space Book in PDF, ePub and Kindle
Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV
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 | : Chae H. An |
Publisher | : MIT Press (MA) |
Total Pages | : 233 |
Release | : 1988-03-01 |
Genre | : Computers |
ISBN | : 9780262511575 |
Download Model-Based Control of a Robot Manipulator Book in PDF, ePub and Kindle
The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.
Author | : M. Osman Tokhi |
Publisher | : IET |
Total Pages | : 579 |
Release | : 2008-05-20 |
Genre | : Technology & Engineering |
ISBN | : 0863414486 |
Download Flexible Robot Manipulators Book in PDF, ePub and Kindle
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.