Multi Arm Cooperating Robots

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Multi Arm Cooperating Robots

Author : M.D. Zivanovic
ISBN : 9781402042690
Genre : Technology & Engineering
File Size : 58.72 MB
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Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative manipulation and finding a way for a sufficiently exact characterization of cooperative system statics, kinematics and dynamics. After successfully completing this task, in the frame of the second task, the problem of coordinated motion of the cooperative system is solved. Finally, as a solution to the third task, the control laws of cooperative manipulation are synthesized. The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears. In static and dynamic analysis of the elastic structure of cooperative systems the finite element method is applied. In contrast to the procedure used in the major part of the available literature where deformation work is expressed by deviations from the unloaded state of fixed elastic structure, in this monograph the deformation work is expressed by internal forces as a function of the absolute coordinates of contacts of mobile elastic structure. Coordinated motion and control in cooperative manipulation are solved as the problem of coordinated motion and control of a mobile elastic structure, taking into account the specific features of cooperative manipulation. Coordinated motion and control laws in cooperative manipulation are synthesized on the basis of a non-linear model where the problem of uncertainty is solved, which is not the case in the available literature. Simple examples demonstrate the consistent procedure of mathematical modeling and synthesis of nominal coordinated motion, as well as control of the cooperative system. This book will be useful to a wide audience of engineers, ranging from undergraduate and graduate students, new and advanced academic researchers, to practitioners (mechanical and electrical engineers, computer and system scientists). It is intended for readers whose work involves manufacturing, industrial, robotics, automation, computer and control engineering, and who wish to find out about this important new technology and its potential advantages for control engineering applications.
Category: Technology & Engineering

Springer Handbook Of Robotics

Author : Bruno Siciliano
ISBN : 9783540239574
Genre : Technology & Engineering
File Size : 40.2 MB
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With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.
Category: Technology & Engineering

Dynamics Of Robots With Contact Tasks

Author : M. Vukobratovic
ISBN : 9789401703970
Genre : Science
File Size : 73.38 MB
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As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues. The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.
Category: Science

Robotics Research 1989

Author : American Society of Mechanical Engineers. Winter Meeting
ISBN : UOM:39015015417457
Genre : Technology & Engineering
File Size : 62.85 MB
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Category: Technology & Engineering

Advanced Robotics

Author :
ISBN : STANFORD:36105020662834
Genre : Robotics
File Size : 66.95 MB
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Category: Robotics

Robot Control 1988 Syroco 88

Author : U. Rembold
ISBN : 9781483298764
Genre : Technology & Engineering
File Size : 63.11 MB
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Containing 88 papers, the emphasis of this volume is on the control of advanced robots. These robots may be self-contained or part of a system. The applications of such robots vary from manufacturing, assembly and material handling to space work and rescue operations. Topics presented at the Symposium included sensors and robot vision systems as well as the planning and control of robot actions. Main topics covered include the design of control systems and their implementation; advanced sensors and multisensor systems; explicit robot programming; implicit (task-orientated) robot programming; interaction between programming and control systems; simulation as a programming aid; AI techniques for advanced robot systems and autonomous robots.
Category: Technology & Engineering

Experimental Robotics Vi

Author : Peter I. Corke
ISBN : 1852332107
Genre : Technology & Engineering
File Size : 32.34 MB
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This book presents the proceedings of the 6th International Symposium on Experimental Robotics held in Sydney in March 1999. The editors and contributors represent the leading robotics research efforts from around the world. Micro-machines, interplanetary exploration, minimally invasive surgery and emerging humanoid robots are among the most obvious attainments of leading robotics research teams reported in this volume. Less obvious but equally significant are the fundamental advances in robot map-building and methods of communication between humans and machines that are demonstrated through experimental results. This collection of papers will provide the reader with a concise report on the current achievements and future trends in robotics research across the world.
Category: Technology & Engineering

Flexible Assembly Systems

Author :
ISBN : UOM:39015028484353
Genre : Assembly-line methods
File Size : 78.58 MB
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Category: Assembly-line methods

Complex Robotic Systems

Author : Pasquale Chiacchio
ISBN : UOM:39015043189482
Genre : Computers
File Size : 27.37 MB
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Robotic systems have proved themselves to be of increasing importance and are widely adopted to substitute for humans in repetitive or hazardous situations. Their diffusion has outgrown the limits of industrial applications in manufacturing systems to co ver all aspects of exploration and servicing in hostile environments such as undersea, outer space, battlefields and nuclear plants. Complex robotic systems - ie robotic systems with a complex structure and architecture - are gaining increasing attention from both the academic community and industrial users. The modelling and control problems for these systems cannot be regarded as simple extensions of those for traditional single manipulators, since additional complexity arises; to accomplish tasks there is the need to ensure co-ordinated motion of the whole system together with management of interaction between each component of the system. This book focuses on two examples of complex robotic systems - namely co-operating manipulators and multi-fingered hands. It is addressed to graduate students as well as to researchers in the field.
Category: Computers

Robotics And Manufacturing

Author :
ISBN : UOM:39076000808852
Genre : Manufacturing processes
File Size : 37.42 MB
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Category: Manufacturing processes

Proceedings

Author :
ISBN : 0818607874
Genre : Automatic control
File Size : 55.48 MB
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Category: Automatic control

Robotics Abstracts

Author :
ISBN : UOM:39015047361335
Genre : Automation
File Size : 89.75 MB
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Category: Automation

Robotics Research

Author :
ISBN : PSU:000016892927
Genre : Artificial intelligence
File Size : 77.83 MB
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Category: Artificial intelligence

Robotics Research

Author : Hirofumi Miura
ISBN : UCSD:31822004927208
Genre : Computers
File Size : 68.14 MB
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AUGUST 28-31, 1989, TOKYO, JAPANAUGUST 28-31, 1989, TOKYO, JAPANKinematics and Dynamics. Control Systems. Motion and Path Planning. Robot Programming, Vision, and Sensing.
Category: Computers