Inverse Kinematics, Kinematic Control and Redundancy Resolution for Chained-link Robotic 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 Inverse Kinematics, Kinematic Control and Redundancy Resolution for Chained-link Robotic Manipulators write by Nima Ramezani Taghiabadi. This book was released on 2016. Inverse Kinematics, Kinematic Control and Redundancy Resolution for Chained-link Robotic Manipulators available in PDF, EPUB and Kindle.
Robot Manipulator Redundancy Resolution
Robot Manipulator Redundancy Resolution - 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 Redundancy Resolution write by Yunong Zhang. This book was released on 2017-11-13. Robot Manipulator Redundancy Resolution available in PDF, EPUB and Kindle. Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Time-Optimal Trajectory Planning for Redundant Robots
Time-Optimal Trajectory Planning for Redundant 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 Time-Optimal Trajectory Planning for Redundant Robots write by Alexander Reiter. This book was released on 2016-03-11. Time-Optimal Trajectory Planning for Redundant Robots available in PDF, EPUB and Kindle. This master’s thesis presents a novel approach to finding trajectories with minimal end time for kinematically redundant manipulators. Emphasis is given to a general applicability of the developed method to industrial tasks such as gluing or welding. Minimum-time trajectories may yield economic advantages as a shorter trajectory duration results in a lower task cycle time. Whereas kinematically redundant manipulators possess increased dexterity, compared to conventional non-redundant manipulators, their inverse kinematics is not unique and requires further treatment. In this work a joint space decomposition approach is introduced that takes advantage of the closed form inverse kinematics solution of non-redundant robots. Kinematic redundancy can be fully exploited to achieve minimum-time trajectories for prescribed end-effector paths.
Control of Redundant Robot Manipulators
Control of Redundant 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 Control of Redundant Robot Manipulators write by Rajni V. Patel. This book was released on 2005-05-04. Control of Redundant Robot Manipulators available in PDF, EPUB and Kindle. This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
Advances in Mechanism and Machine Science
Advances in Mechanism and Machine Science - 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 Advances in Mechanism and Machine Science write by Tadeusz Uhl. This book was released on 2019-06-13. Advances in Mechanism and Machine Science available in PDF, EPUB and Kindle. This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
