Automatic Trajectory Generation Using Redundancy Resolution Scheme Based On Virtual Mechanism
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| Author | : Bojan Nemec |
| Publisher | : |
| Total Pages | : |
| Release | : 2009 |
| Genre | : |
| ISBN | : 9789533070384 |
In the chapter we deal with the automatic trajectory generation for industrial robots. Automatically generated programs have to consider various limitations of the robot mechanism, such as joint limits, wrist singularity and possible collisions of the robot with the environment. The required flexibility required to solve the above problems is offered by the kinematic redundancy. We proposed a new method of solving the kinematic redundancy which.
| Author | : Aleksandar Rodic |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 404 |
| Release | : 2009-12-01 |
| Genre | : Technology & Engineering |
| ISBN | : 9533070382 |
This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials.
| Author | : Timothy Sands |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 180 |
| Release | : 2020-05-27 |
| Genre | : Computers |
| ISBN | : 1789841119 |
Kirchhoff’s laws give a mathematical description of electromechanics. Similarly, translational motion mechanics obey Newton’s laws, while rotational motion mechanics comply with Euler’s moment equations, a set of three nonlinear, coupled differential equations. Nonlinearities complicate the mathematical treatment of the seemingly simple action of rotating, and these complications lead to a robust lineage of research culminating here with a text on the ability to make rigid bodies in rotation become self-aware, and even learn. This book is meant for basic scientifically inclined readers commencing with a first chapter on the basics of stochastic artificial intelligence to bridge readers to very advanced topics of deterministic artificial intelligence, espoused in the book with applications to both electromechanics (e.g. the forced van der Pol equation) and also motion mechanics (i.e. Euler’s moment equations). The reader will learn how to bestow self-awareness and express optimal learning methods for the self-aware object (e.g. robot) that require no tuning and no interaction with humans for autonomous operation. The topics learned from reading this text will prepare students and faculty to investigate interesting problems of mechanics. It is the fondest hope of the editor and authors that readers enjoy the book.
| Author | : |
| Publisher | : |
| Total Pages | : 400 |
| Release | : 1948 |
| Genre | : Mechanics, Applied |
| ISBN | : |
| Author | : |
| Publisher | : |
| Total Pages | : 974 |
| Release | : 1999 |
| Genre | : Aeronautics |
| ISBN | : |
| Author | : Emre Ugur |
| Publisher | : Frontiers Media SA |
| Total Pages | : 149 |
| Release | : 2019-12-24 |
| Genre | : |
| ISBN | : 288963261X |
| Author | : Bruno Siciliano |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 154 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461544319 |
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
| Author | : Tobias Bruckmann |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 443 |
| Release | : 2012-09-09 |
| Genre | : Technology & Engineering |
| ISBN | : 3642319874 |
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 | : Antonio Bicchi |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 283 |
| Release | : 2007-07-12 |
| Genre | : Technology & Engineering |
| ISBN | : 354036224X |
The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.
| Author | : Donald G. Bailey |
| Publisher | : John Wiley & Sons |
| Total Pages | : 501 |
| Release | : 2023-08-08 |
| Genre | : Technology & Engineering |
| ISBN | : 1119819814 |
Design for Embedded Image Processing on FPGAs Bridge the gap between software and hardware with this foundational design reference Field-programmable gate arrays (FPGAs) are integrated circuits designed so that configuration can take place. Circuits of this kind play an integral role in processing images, with FPGAs increasingly embedded in digital cameras and other devices that produce visual data outputs for subsequent realization and compression. These uses of FPGAs require specific design processes designed to mediate smoothly between hardware and processing algorithm. Design for Embedded Image Processing on FPGAs provides a comprehensive overview of these processes and their applications in embedded image processing. Beginning with an overview of image processing and its core principles, this book discusses specific design and computation techniques, with a smooth progression from the foundations of the field to its advanced principles. Readers of the second edition of Design for Embedded Image Processing on FPGAs will also find: Detailed discussion of image processing techniques including point operations, histogram operations, linear transformations, and more New chapters covering Deep Learning algorithms and Image and Video Coding Example applications throughout to ground principles and demonstrate techniques Design for Embedded Image Processing on FPGAs is ideal for engineers and academics working in the field of Image Processing, as well as graduate students studying Embedded Systems Engineering, Image Processing, Digital Design, and related fields.
