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.
The control of kinematically redundant robot manipulators
The control of kinematically 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 The control of kinematically redundant robot manipulators write by Ian David Walker. This book was released on 1985. The control of kinematically redundant robot manipulators available in PDF, EPUB and Kindle.
Self-motion Control of Kinematically Redundant Robot Manipulators
Self-motion Control of Kinematically 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 Self-motion Control of Kinematically Redundant Robot Manipulators write by Omar Waleed Najm Maaroof. This book was released on 2012. Self-motion Control of Kinematically Redundant Robot Manipulators available in PDF, EPUB and Kindle. Redundancy in general provides space for optimization in robotics. Redundancy can be defined as sensor/actuator redundancy or kinematic redundancy. The redundancy considered in this thesis is the kinematic redundancy where the total degrees-of-freedom of the robot is more than the total degrees-of-freedom required for the task to be executed. This provides infinite number of solutions to perform the same task, thus, various subtasks can be carried out during the main-task execution. This work utilizes the property of self-motion for kinematically redundant robot manipulators by designing the general subtask controller that controls the joint motion in the null-space of the Jacobian matrix. The general subtask controller is implemented for various subtasks in this thesis. Minimizing the total joint motion, singularity avoidance, posture optimization for static impact force objectives, which include maximizing/minimizing the static impact force magnitude, and static and moving obstacle (point to point) collision avoidance are the subtasks considered in this thesis. New control architecture is developed to accomplish both the main-task and the previously mentioned subtasks. In this architecture, objective function for each subtask is formed. Then, the gradient of the objective function is used in the subtask controller to execute subtask objective while tracking a given end-effector trajectory. The tracking of the end-effector is called main-task. The SCHUNK LWA4-Arm robot arm with seven degrees-of-freedom is developed first in SolidWorks® as a computer-aided-design (CAD) model. Then, the CAD model is converted to MATLAB® Simulink model using SimMechanics CAD translator to be used in the simulation tests of the controller. Kinematics and dynamics equations of the robot are derived to be used in the controllers. Simulation test results are presented for the kinematically redundant robot manipulator operating in 3D space carrying out the main-task and the selected subtasks for this study. The simulation test results indicate that the developed controller's performance is successful for all the main-task and subtask objectives.
Kinematic Control of Redundant Robot Arms Using Neural Networks
Kinematic Control of Redundant Robot Arms Using Neural Networks - 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 Kinematic Control of Redundant Robot Arms Using Neural Networks write by Shuai Li. This book was released on 2019-04-29. Kinematic Control of Redundant Robot Arms Using Neural Networks available in PDF, EPUB and Kindle. Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
Modelling and Control of Robot Manipulators
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.
