Author : H. Asada
ISBN : 0471830291
Genre : Technology & Engineering
File Size : 53.52 MB
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Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout. The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability. The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory. Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.
Author : Manfred Husty
ISBN : 9783319599724
Genre : Technology & Engineering
File Size : 63.62 MB
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These are selected papers presented at the 5th International Workshop on Medical and Service Robots (MESROB 2016). The main topics of the workshop included: Exoskeleton and prostheses; Therapeutic robots and rehabilitation; Cognitive robots; Humanoid & Service robots; Assistive robots and elderly assistance; Surgical robots; Human-robot interfaces; Kinematic and mechatronic design for medical and assistive robotics; and Legal issues in medical robotics. The workshop brought together researchers and practitioners to discuss new and emerging topics of Medical and Service Robotics. The meeting took place at castle St. Martin in Graz, Austria, from 4-6 July, 2016.
This book presents the most recent research results on modeling andcontrol of robot manipulators. Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models. Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis. Chapter 3 introduces global and local tools forperformance analysis of serial robots. Chapter 4 presents an original optimization techniquefor point-to-point trajectory generation accounting for robotdynamics. Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton-Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.
The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.
Complete, state–of–the–art coverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material on parallel manipulators that is not available in any other resource, it offers an in–depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications. It also features: ∗ The homotopy continuation method and dialytic elimination method for solving polynomial systems that apply to robot kinematics ∗ Numerous worked examples and problems to reinforce learning ∗ An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung–Wen Tsai′s vast experience in the field as well as recent research publications, Robot Analysis is a first–rate text for upper–level undergraduate and graduate students in mechanical engineering, electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.
Author : Bin Zi
ISBN : 9789811017537
Genre : Technology & Engineering
File Size : 34.65 MB
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This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybrid-driven based and traditional cable-suspended parallel robots rounds out the coverage. This book addresses the needs of researchers, engineers and post-graduates in the field of cable-suspended parallel robots and related areas.
Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned.
While rehabilitation robots are not uncommon in the literature, they are undesirably inspired by industrial robot designs. Some of the shortcomings which are common to all these contemporary robots are, kinematic incompatibility, stiff actuation, non-backdrivability, high cost, unfriendly or intimidating appearance due to use of heavy and bulky electromagnetic actuators. Wearable robots, owing to their biologically inspired design, compliant actuation, backdrivability and safe use, are better candidates for rehabilitation robots compared to industrial robots. In recent years, wearable robots have received considerable attention and several instances such as exoskeletons, orthotics, and prosthetics have been proposed by researchers. However, there are certain challenges from the design and control perspective of wearable robots, which limit their wider implementation. Bio-inspired or biological design, kinematic compliance and holistic design optimization are the chief design issues, whereas, suitable actuation, development of appropriate physical and cognitive human-robot interaction are the essential control related concerns. Most of the skeletal joints in the human body are actuated by parallel action of a group of muscles and hence a bio-inspired wearable robot design is likely to be based on parallel mechanisms. Impending research issues associated with the use of parallel mechanism are small workspace, abundance of singularities and unavailability of forward kinematics solution. Ambulatory requirement of the wearable robots also calls for compact, light weight, and energy proficient technologies for actuators, sensors, and controllers. This thesis explores the wide-ranging potential of wearable robots in rehabilitation in the pretext of a wearable ankle rehabilitation robot. In this research, a parallel mechanism based wearable robot for ankle rehabilitation was developed to study design and control related aspects of wearable robots in general. Arrangement of actuators, in the kinematically compliant design, had been carefully selected to allow natural foot-ankle motions while keeping the ankle joint position stationary. A fuzzy based computational model was developed in this research to provide a unique solution for the forward kinematics of parallel robots. The proposed method is accurate and time efficient compared to previous methods proposed in the literature. The fast computation of forward kinematics has facilitated its online use in the controller replacing use of heavy inclinometers. A complete design analysis had been carried out by mathematically formulating important performance indices affecting robot performance in three major aspects such as, kinematic, actuation and structural aspects. Initially, a single objective optimisation approach was adopted following past practice, wherein a performance index called global condition number was optimized. Analysis of the results shows that some of the objectives were of conflicting nature and hence the single objective approach could not optimize all the performance criteria simultaneously. Subsequently, robot design optimization was carried out using existing multiobjective optimization methods, namely, preference based optimization and the evolutionary algorithm (EA) based optimization. Interestingly, these existing optimization methods were also found to be unsuccessful due to the incompatible and contradictory nature of objectives, their large number and continuous solution space. Further investigation in the EA methodology revealed fundamental shortcomings in the existing NSGA II approach. As a result of subsequent research efforts, a major breakthrough was achieved through the development of a fuzzy dominance based evolutionary optimization method to address the inadequacies of existing EA approach. Finally, the robot design optimization was carried out using newly developed fuzzy sorting genetic algorithm (FSGA) and the wearable robot was constructed using the optimized design. To improve the compliance of the wearable robot, light weight yet powerful actuators called Pneumatic muscle actuators (PMA) were used which exhibit skeletal muscle like behaviour. Construction of a dynamic model of the PMA was a difficult task owing to their non-linear and time dependent behaviour. Therefore, a Mamdani based fuzzy model was developed and optimized to accurately predict the PMA behaviour in the presence of an external force. The forward kinematics model of the robot and the dynamic model of PMA were finally incorporated in an overall fuzzy controller designed for the position control of the wearable robot. Apart from the conceptualization of a wearable ankle robot design, optimization of two variants of fuzzy inference systems namely, Takagi-Sugeno fuzzy system and Mamdani fuzzy system as well as their distinctive uses in this thesis are important contributions of the present research. The major contribution of this research lies in the development of a fuzzy dominance based evolutionary optimization method which is a strong alternate to the predominantly used evolutionary algorithm NSGA II, which has been used in diverse optimization applications over the last two decades.