Modelling and Control of Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modelling and Control of Robot Manipulators write by Lorenzo Sciavicco. This book was released on 2012-12-06. Modelling and Control of Robot Manipulators available 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.
Control of Robot Manipulators in Joint Space
Control of Robot Manipulators in Joint Space - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control of Robot Manipulators in Joint Space write by Rafael Kelly. This book was released on 2007-12-14. Control of Robot Manipulators in Joint Space available 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
Robot Manipulator Control
Robot Manipulator Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Manipulator Control write by Frank L. Lewis. This book was released on 2003-12-12. Robot Manipulator Control available in PDF, EPUB and Kindle. Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Robot Manipulators
Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Manipulators write by Richard P. Paul. This book was released on 1981. Robot Manipulators available in PDF, EPUB and Kindle. Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.
Robot Force Control
Robot Force Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Force Control write by Bruno Siciliano. This book was released on 2012-12-06. Robot Force Control available in PDF, EPUB and Kindle. 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.
