Task Space Sensory Feedback Control Of Robot Manipulators
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| Author | : Chien Chern Cheah |
| Publisher | : Springer |
| Total Pages | : 228 |
| Release | : 2015-04-09 |
| Genre | : Technology & Engineering |
| ISBN | : 9812870628 |
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
| Author | : Koichi Hashimoto |
| Publisher | : World Scientific |
| Total Pages | : 378 |
| Release | : 1993 |
| Genre | : Technology & Engineering |
| ISBN | : 9789810246068 |
This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.
| Author | : Ciro Natale |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 117 |
| Release | : 2003-01-08 |
| Genre | : Technology & Engineering |
| ISBN | : 354000159X |
Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.
| Author | : Rafael Kelly |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 430 |
| Release | : 2007-12-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1852339993 |
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 | : Sadao Kawamura |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 360 |
| Release | : 2007-07-17 |
| Genre | : Technology & Engineering |
| ISBN | : 3540373470 |
This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.
| 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 | : Peilin Song |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 1997 |
| Genre | : |
| ISBN | : |
The task space-based approach to the design of robot control as an alternative to the joint space-based approach is an important area of robotics research and development. However, its theoretical foundation is less well established. This thesis addresses the fundamental issues related to the task space-based approach and contributes to the development of its theoretical foundation. The focus is on two important task space-based control problems: simultaneous position and force control (P/F control) of non-redundant robots redundant robots respectively. The common feature of the corresponding task space controllers is that each consists of two subcontrollers. The design of these controllers requites decomposing the task space and/or joint space into two subspaces. The central issues in the design of the task space controllers studied here are: (i) the decomposition and (ii) the interaction between the subcontrollers. Three principles are proposed as the guides for design of the task space controllers: (1) The Principle of Invariance for the decomposition of task space; (2) The Principle of Minimum Interaction for the design of P/F control; (3) The Principle of Non-Interaction for the design of task space control of redundant robots. Two design frameworks are developed based on these principles. The first uses the principle of invariance and the principle of minimum interaction. It consists of a generic design methodology for P/F control design and a platform for the analysis and evaluation of existing and future P/F control schemes. The second framework proposes a generic design methodology for the design of task space control of redundant robots based on the principle of non-interaction. Together with the established task space approaches to position control of non-redundant robots, the methodology proposed in this thesis yields a complete framework for task space-based control design. The conclusions of this thesis are not primarily the results of empirical studies; they are theoretical in nature and supported by logical reasoning.
| Author | : Krzysztof R. Kozlowski |
| Publisher | : Springer |
| Total Pages | : 401 |
| Release | : 2006-07-26 |
| Genre | : Technology & Engineering |
| ISBN | : 1846284058 |
This book presents recent results in robot motion and control. Twenty papers presented at the Fourth International Workshop on Robot Motion and Control held in 2004 have been expanded. The authors of these papers were carefully selected and represent leading institutions in this field. The book covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, topics not covered in previous books.
| Author | : Satoru Goto |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 276 |
| Release | : 2011-06-09 |
| Genre | : Technology & Engineering |
| ISBN | : 9533071605 |
Robot arms have been developing since 1960's, and those are widely used in industrial factories such as welding, painting, assembly, transportation, etc. Nowadays, the robot arms are indispensable for automation of factories. Moreover, applications of the robot arms are not limited to the industrial factory but expanded to living space or outer space. The robot arm is an integrated technology, and its technological elements are actuators, sensors, mechanism, control and system, etc.
| Author | : Frank L. Lewis |
| Publisher | : MacMillan Publishing Company |
| Total Pages | : 450 |
| Release | : 1993 |
| Genre | : Technology & Engineering |
| ISBN | : |
