Robotic Manipulators And Vehicles PDF Download
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| Author | : Gerasimos Rigatos |
| Publisher | : Springer |
| Total Pages | : 734 |
| Release | : 2018-05-24 |
| Genre | : Technology & Engineering |
| ISBN | : 331977851X |
Download Robotic Manipulators and Vehicles Book in PDF, ePub and Kindle
This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
| 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 | : Béla Lantos |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 479 |
| Release | : 2010-12-01 |
| Genre | : Technology & Engineering |
| ISBN | : 1849961220 |
Download Nonlinear Control of Vehicles and Robots Book in PDF, ePub and Kindle
Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
| Author | : Matthew T. Mason |
| Publisher | : MIT Press |
| Total Pages | : 282 |
| Release | : 2001-06-08 |
| Genre | : Computers |
| ISBN | : 9780262263740 |
Download Mechanics of Robotic Manipulation Book in PDF, ePub and Kindle
The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
| Author | : Ranjan Vepa |
| Publisher | : CRC Press |
| Total Pages | : 563 |
| Release | : 2016-10-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1498767052 |
Download Nonlinear Control of Robots and Unmanned Aerial Vehicles Book in PDF, ePub and Kindle
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
| Author | : Ranjan Vepa |
| Publisher | : Cambridge University Press |
| Total Pages | : 371 |
| Release | : 2019-05-02 |
| Genre | : Science |
| ISBN | : 1108422845 |
Download Dynamics and Control of Autonomous Space Vehicles and Robotics Book in PDF, ePub and Kindle
Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
| Author | : Ranjan Vepa |
| Publisher | : CRC Press |
| Total Pages | : 704 |
| Release | : 2016-10-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1315350300 |
Download Nonlinear Control of Robots and Unmanned Aerial Vehicles Book in PDF, ePub and Kindle
Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
| Author | : Roy A. Raphael |
| Publisher | : |
| Total Pages | : 132 |
| Release | : 1998-03 |
| Genre | : |
| ISBN | : 9781423561828 |
Download Robotic Manipulation on a Moving Platform Utilizing Force Sensing and Sonar Ranging Book in PDF, ePub and Kindle
Robotic manipulators are widely used in industry where the environment may be too hostile for workers. However, their application has been limited to an industrial setting where the robot is mounted on a stationary base. It is of great interest to expand the application of the robot manipulator to where it is mounted on an autonomous delivery vehicle. This application would enable the delivery vehicle not only to locate objects in a hostile environment, but also to perform tasks that would entirely remove the human being from the hostile environment. This thesis explores the feasibility of implementing a manipulator on an autonomous vehicle. A Zebra-ZERO Force Control Robot is mounted on a moving platform for feasibility simulations of an autonomous delivery vehicle. The Zebra-ZERO system consists primarily of a robotic arm with six degrees of freedom, a six-axis force sensor mounted at the end of the manipulator, and supporting computer hardware and software. In this thesis, the capability of the Zebra-ZERO system is expanded by integrating it with an external sonar ranging system. The sonar ranging system provides range feedback that is critical for positioning the manipulator while it is mounted on a moving platform. Test results demonstrate that the manipulator mounted on a moving platform is able to compensate for random platform motions and successfully perform various manipulation tasks.
| Author | : Dejan Milutinović |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 240 |
| Release | : 2012-10-12 |
| Genre | : Technology & Engineering |
| ISBN | : 3642339700 |
Download Redundancy in Robot Manipulators and Multi-Robot Systems Book in PDF, ePub and Kindle
The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshop was envisioned as a dialog between researchers from two separate, but obviously related fields of robotics: one that deals with systems having multiple degrees of freedom, including redundant robot manipulators, and the other that deals with multirobot systems. The volume consists of twelve chapters, each representing one of the two fields.
| Author | : Richard M. Murray |
| Publisher | : CRC Press |
| Total Pages | : 503 |
| Release | : 2017-12-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1351469797 |
Download A Mathematical Introduction to Robotic Manipulation Book in PDF, ePub and Kindle
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
