Dynamics of Tree-Type Robotic Systems - 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 Dynamics of Tree-Type Robotic Systems write by Suril Vijaykumar Shah. This book was released on 2012-12-14. Dynamics of Tree-Type Robotic Systems available in PDF, EPUB and Kindle. This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.
ROMANSY 22 – Robot Design, Dynamics and Control
ROMANSY 22 – 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 22 – Robot Design, Dynamics and Control write by Vigen Arakelian. This book was released on 2018-05-19. ROMANSY 22 – Robot Design, Dynamics and Control available in PDF, EPUB and Kindle. This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2018, the 22nd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2018 is the 22nd event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
Dynamics of Parallel Robots
Dynamics of Parallel Robots - 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 Dynamics of Parallel Robots write by Sébastien Briot. This book was released on 2015-06-22. Dynamics of Parallel Robots available in PDF, EPUB and Kindle. This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Dynamics And Robust Control Of Robot-environment Interaction
Dynamics And Robust Control Of Robot-environment Interaction - 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 Dynamics And Robust Control Of Robot-environment Interaction write by Miomir Vukobratovic. This book was released on 2009-03-06. Dynamics And Robust Control Of Robot-environment Interaction available in PDF, EPUB and Kindle. This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.The ultimate aim is to strike a good balance between the necessary theoretical framework and practical aspects of interactive robots.
Dynamics of Rigid-Flexible Robots and Multibody Systems
Dynamics of Rigid-Flexible Robots and Multibody Systems - 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 Dynamics of Rigid-Flexible Robots and Multibody Systems write by Paramanand Vivekanand Nandihal. This book was released on 2021-11-28. Dynamics of Rigid-Flexible Robots and Multibody Systems available in PDF, EPUB and Kindle. This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.
