Dynamic Decoupling 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 Dynamic Decoupling of Robot Manipulators write by Vigen Arakelian. This book was released on 2018-02-20. Dynamic Decoupling of Robot Manipulators available in PDF, EPUB and Kindle. This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
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 Etienne Dombre. This book was released on 2013-03-01. Robot Manipulators available in PDF, EPUB and Kindle. This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
ROMANSY 24 - Robot Design, Dynamics and Control
ROMANSY 24 - Robot Design, Dynamics and 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 ROMANSY 24 - Robot Design, Dynamics and Control write by Andrés Kecskeméthy. This book was released on 2022-06-22. ROMANSY 24 - Robot Design, Dynamics and Control available in PDF, EPUB and Kindle. This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2022, the 24th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, held in Udine, Italy, on July 4–7, 2022. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2022 marks the 24th instalment in a series that began in 1973.
Mechanism Design for Robotics
Mechanism Design for Robotics - 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 Mechanism Design for Robotics write by Saïd Zeghloul. This book was released on 2021-05-08. Mechanism Design for Robotics available in PDF, EPUB and Kindle. This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23–25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
Dynamic Analysis of Robot Manipulators
Dynamic Analysis 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 Dynamic Analysis of Robot Manipulators write by Constantinos A. Balafoutis. This book was released on 1991. Dynamic Analysis of Robot Manipulators available in PDF, EPUB and Kindle.
