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Robotic Manipulators and Vehicles

2018-05-24 Technology & Engineering
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Release : 2018-05-24
Genre : Technology & Engineering
Kind : eBook
Book Rating : 51X/5 ( reviews)

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Book Synopsis Robotic Manipulators and Vehicles by : Gerasimos Rigatos

Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos. This book was released on 2018-05-24. Available in PDF, EPUB and Kindle. Book excerpt: 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

2013-10-02 Technology & Engineering
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Release : 2013-10-02
Genre : Technology & Engineering
Kind : eBook
Book Rating : 630/5 ( reviews)

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Book Synopsis Vehicle-Manipulator Systems by : Pål Johan From

Download or read book Vehicle-Manipulator Systems written by Pål Johan From. This book was released on 2013-10-02. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Mechanics of Robotic Manipulation

2001-06-08 Computers
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Release : 2001-06-08
Genre : Computers
Kind : eBook
Book Rating : 740/5 ( reviews)

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Book Synopsis Mechanics of Robotic Manipulation by : Matthew T. Mason

Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason. This book was released on 2001-06-08. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Nonlinear Control of Vehicles and Robots

2010-12-01 Technology & Engineering
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Release : 2010-12-01
Genre : Technology & Engineering
Kind : eBook
Book Rating : 220/5 ( reviews)

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Book Synopsis Nonlinear Control of Vehicles and Robots by : Béla Lantos

Download or read book Nonlinear Control of Vehicles and Robots written by Béla Lantos. This book was released on 2010-12-01. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Nonlinear Control of Robots and Unmanned Aerial Vehicles

2016-10-14 Technology & Engineering
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Release : 2016-10-14
Genre : Technology & Engineering
Kind : eBook
Book Rating : 052/5 ( reviews)

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Book Synopsis Nonlinear Control of Robots and Unmanned Aerial Vehicles by : Ranjan Vepa

Download or read book Nonlinear Control of Robots and Unmanned Aerial Vehicles written by Ranjan Vepa. This book was released on 2016-10-14. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

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