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.
Underwater Robots
Underwater 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 Underwater Robots write by Gianluca Antonelli. This book was released on 2006-06-13. Underwater Robots available in PDF, EPUB and Kindle. This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.
Force Control Methods of Underwater Vehicle-manipulator Systems (UVMS)
Force Control Methods of Underwater Vehicle-manipulator Systems (UVMS) - 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 Force Control Methods of Underwater Vehicle-manipulator Systems (UVMS) write by Yong Cui. This book was released on 2000. Force Control Methods of Underwater Vehicle-manipulator Systems (UVMS) available in PDF, EPUB and Kindle.
Task Resolved Robust Control of Vehicle/manipulator Systems
Task Resolved Robust Control of 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 Task Resolved Robust Control of Vehicle/manipulator Systems write by D. R. Yoerger. This book was released on 1987. Task Resolved Robust Control of Vehicle/manipulator Systems available in PDF, EPUB and Kindle.
Coordinated Control of Small, Remotely Operated and Submerged Vehicle-manipulator Systems
Coordinated Control of Small, Remotely Operated and Submerged 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 Coordinated Control of Small, Remotely Operated and Submerged Vehicle-manipulator Systems write by Serdar Soylu. This book was released on 2011. Coordinated Control of Small, Remotely Operated and Submerged Vehicle-manipulator Systems available in PDF, EPUB and Kindle. Current submerged science projects such as VENUS and NEPTUNE have revealed the need for small, low-cost and easily deployed underwater remotely operated vehicle manipulator (ROVM) systems. Unfortunately, existing small remotely operated underwater vehicles (ROV) are not equipped to complete the complex and interactive submerged tasks required for these projects. Therefore, this thesis is aimed at adapting a popular small ROV into a ROVM that is capable of low-cost and time-efficient underwater manipulation. To realize this objective, the coordinated control of ROVM systems is required, which, in the context of this research, is defined as the collection of hardware and software that provides advanced functionalities to small ROVM systems. In light of this, the primary focus of this dissertation is to propose various technical building blocks that ultimately lead to the realization of such a coordinated control system for small ROVMs. To develop such a coordinated control of ROVM systems, it is proposed that ROV and manipulator motion be coordinated optimally and intelligently. With coordination, the system becomes redundant: there are more degrees of freedom (DOF) than required. Hence, the extra DOFs can be used to achieve secondary objectives in addition to the primary end-effector following task with a redundancy resolution scheme. This eliminates the standard practice of holding the ROV stationary during a task and uncovers significant potential in the small ROVM platform. In the proposed scheme, the ROV and manipulator motion is first coordinated such that singular configurations of the manipulator are avoided, and hence dexterous manipulation is ensured. This is done by using the ROV's mobility in an optimal, coordinated manner. Later, to accommodate a more comprehensive set of secondary objectives, a fuzzy based approach is proposed. The method considers the human pilot as the main operator and the fuzzy machine as an artificial assistant pilot that dynamically prioritizes the secondary objectives and then determines the optimal motion. Several model-based control methodologies are proposed for small ROV/ROVM systems to realize the desired motion produced by the redundancy resolution, including an adaptive sliding-mode control, an upper bound adaptive sliding-mode control with adaptive PID layer, and an H? sliding-mode control. For the unified system (redundancy resolution and controller), a new human-machine interface (HMI) is designed that can facilitate the coordinated control of ROVM systems. This HMI involves a 6-DOF parallel joystick, and a 3-D visual display and a graphical user interface (GUI) that enables a human pilot to smoothly interact with the ROVM systems. Hardware-in-the loop simulations are carried out to evaluate the performance of the coordination schemes. On the thrust allocation side, a novel fault-tolerant thrust allocation scheme is proposed to distribute forces and moments commanded by the controller over the thrusters. The method utilizes the redundancy in the thruster layout of ROVM systems. The proposed scheme minimizes the largest component of the thrust vector instead of the two-norm, and hence provides better manoeuvrability ...
