Robotic Manipulators and Vehicles - 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 Robotic Manipulators and Vehicles write by Gerasimos Rigatos. This book was released on 2018-05-24. Robotic Manipulators and Vehicles available in PDF, EPUB and Kindle. This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
Vehicle-Manipulator Systems
Vehicle-Manipulator 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 Vehicle-Manipulator Systems write by Pål Johan From. This book was released on 2013-10-02. Vehicle-Manipulator Systems available in PDF, EPUB and Kindle. Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Nonlinear Control of Vehicles and Robots
Nonlinear Control of Vehicles and 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 Nonlinear Control of Vehicles and Robots write by Béla Lantos. This book was released on 2010-12-01. Nonlinear Control of Vehicles and Robots available in PDF, EPUB and Kindle. Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Mechanics of Robotic Manipulation
Mechanics of Robotic Manipulation - 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 Mechanics of Robotic Manipulation write by Matthew T. Mason. This book was released on 2001-06-08. Mechanics of Robotic Manipulation available in PDF, EPUB and Kindle. The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
Autonomous Robot Vehicles
Autonomous Robot Vehicles - 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 Autonomous Robot Vehicles write by Ingemar J. Cox. This book was released on 2012-12-06. Autonomous Robot Vehicles available in PDF, EPUB and Kindle. Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.
