Real Time Dynamics Of Manipulation Robots
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| Author | : M. Vukobratovic |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 254 |
| Release | : 2013-12-11 |
| Genre | : Computers |
| ISBN | : 3642821987 |
This is the fourth book from the Series "Scientific Fundamentals of Ro botics". The first two volumes have established abackqround for studying the dynamics and control of robots. While the first book was exclusive ly devoted to the dynamics of active spatial mechanisms, the second treated the problems of the dynamic control of manipulation robots. In contrast to the first two books, where recursive computer-aided me thods for setting robot dynamic equations where described, this mono graph presents a new approach to the formation of robot dynamics. The goal is to achieve the real-time model computation using up-to-date mi crocomputers. The presented concept could be called a numeric-symbolic, or analytic, approach to robot modelling. It will be shown that the generation of analytical robot model may give new excellent possibili ties concerning real-time applications. It is of essential importance in synthesizing the algorithms for nonadaptive and adaptive control of manipulation robots. If should be pointed out that the high computational efficiency has been achieved by off-line computer-aided preparation of robot equations. The parameters of a specified robot must be given in advance. This, af ter each significant variation in robot structure (geometrical and dy namical parameters) ,we must repeat the off-line stage. Thus is why the numerical procedures will always have their place in studying the dy namic properties of robotic systems. This monograph is organized in 5 chapters.
| Author | : M. Vukobratovic |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 319 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 3642818544 |
This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe sis and control of artificial motion, have contributed to a gradual formation of this discipline.
| Author | : Richard M. Murray |
| Publisher | : CRC Press |
| Total Pages | : 488 |
| Release | : 2017-12-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1351469789 |
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.
| Author | : Constantinos A. Balafoutis |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 301 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461539528 |
The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.
| Author | : J Skowronski |
| Publisher | : Elsevier |
| Total Pages | : 279 |
| Release | : 2012-12-02 |
| Genre | : Technology & Engineering |
| ISBN | : 0323158110 |
Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements. The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model). The text also describes equations used to determine the force characteristics, energy, and power required in manipulators. For example, damping forces dissipate energy caused by dry friction or viscous damping at mechanical joints due to slips and sheer effects on surfaces. Other examples are oil, water, and air resistance in the environment of the manipulator, as well as damping in links caused by microscopic interface effects. Demands for high-speed and high-accuracy in manipulators require sturdiness in control against variations in the system parameter. The book cites a situation where the manipulator works in a "hot cell" and must be controlled remotely. The text also tackles the avoidance of obstacles by nonvisual means by referring to the works of Lozano, Perez and Wesley, and of Reibert and Horn. The text is useful for students of civil, structural, and mechanical engineering. It will also profit technicians of automatic, telecontrol, and designers of industrial machinery.
| Author | : Giancarlo Genta |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 613 |
| Release | : 2011-10-27 |
| Genre | : Science |
| ISBN | : 9400717962 |
Based on lecture notes on a space robotics course, this book offers a pedagogical introduction to the mechanics of space robots. After presenting an overview of the environments and conditions space robots have to work in, the author discusses a variety of manipulatory devices robots may use to perform their tasks. This is followed by a discussion of robot mobility in these environments and the various technical approaches. The last two chapters are dedicated to actuators, sensors and power systems used in space robots. This book fills a gap in the space technology literature and will be useful for students and for those who have an interest in the broad and highly interdisciplinary field of space robotics, and in particular in its mechanical aspects.
| Author | : Miomir Vukobratovic |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 313 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 364282997X |
This book provides a general introduction to robot technology with an emphasis on robot mechanisms and kinematics. It is conceived as a reference book for students in the field of robotics.
| Author | : A. Morecki |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 632 |
| Release | : 2012-12-06 |
| Genre | : Science |
| ISBN | : 1468469150 |
| Author | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
| Author | : V.S. Sunderam |
| Publisher | : Springer |
| Total Pages | : 1201 |
| Release | : 2005-05-04 |
| Genre | : Computers |
| ISBN | : 3540321187 |
The Fifth International Conference on Computational Science (ICCS 2005) held in Atlanta, Georgia, USA, May 22–25, 2005, continued in the tradition of p- vious conferences in the series: ICCS 2004 in Krakow, Poland; ICCS 2003 held simultaneously at two locations, in Melbourne, Australia and St. Petersburg, Russia; ICCS 2002 in Amsterdam, The Netherlands; and ICCS 2001 in San Francisco, California, USA. Computational science is rapidly maturing as a mainstream discipline. It is central to an ever-expanding variety of ?elds in which computational methods and tools enable new discoveries with greater accuracy and speed. ICCS 2005 wasorganizedasaforumforscientistsfromthecoredisciplinesofcomputational science and numerous application areas to discuss and exchange ideas, results, and future directions. ICCS participants included researchers from many app- cation domains, including those interested in advanced computational methods for physics, chemistry, life sciences, engineering, economics and ?nance, arts and humanities, as well as computer system vendors and software developers. The primary objectives of this conference were to discuss problems and solutions in allareas,toidentifynewissues,toshapefuturedirectionsofresearch,andtohelp users apply various advanced computational techniques. The event highlighted recent developments in algorithms, computational kernels, next generation c- puting systems, tools, advanced numerical methods, data-driven systems, and emerging application ?elds, such as complex systems, ?nance, bioinformatics, computational aspects of wireless and mobile networks, graphics, and hybrid computation.
