[PDF] Control And Dynamic Systems V39 Advances In Robotic Systems Part 1 Of 2 eBook

Author : C.T. Leonides
Publisher : Elsevier
Page : 485 pages
File Size : 23,74 MB
Release : 2012-12-02
Category : Technology & Engineering
ISBN : 0323163033

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Advances in Robotic Systems, Part 1 shows how the activity in robotic systems has increased significantly over the past decade. Major centers of research and development in robotic systems were established on the international scene, and these became focal points for the brilliant research efforts of many academicians and industrial professionals. The systems aspects of robotics, in general, and of robot control, in particular, are manifested through a number of technical facts. This book comprises 10 chapters, with the first focusing on applications of neural networks to robotics. The following chapters then discuss a unified approach to kinematic modeling, identification and compensation for robot calibration; nonlinear control algorithms in robotic systems; and kinematic and dynamic task space motion planning for robot control. Other chapters cover discrete kinematic modeling techniques in Cartesian space for robotic system; force distribution algorithms for multifingered grippers; frequency analysis for a discrete-time robot system; minimum cost trajectory planning for industrial robots; tactile sensing techniques in robotic systems; and sensor data fusion in robotic systems. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.

Author : C.T. Leonides
Publisher : Academic Press
Page : 432 pages
File Size : 23,11 MB
Release : 2012-12-02
Category : Technology & Engineering
ISBN : 0323162886

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Advances in Robotic Systems, Part 2 is the second of a companion set of two volumes on advances in robotic systems dynamics and control. This book comprises nine chapters, with the first focusing on kinesthetic feedback techniques in teleoperated systems. The succeeding chapters then delve into topics such as parallel algorithms and fault-tolerant reconfigurable architecture for robot kinematics and dynamics computations; trajectory planning for robot control; and a control systems perspective. Other chapters cover simplified techniques for adaptive control of robotic systems; theory and applications of configuration control for redundant manipulators; nonlinear feedback for force control of robot manipulators; systolic architectures for dynamic control of manipulators; inverse dynamics; and forward dynamics. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.

Author : C.T. Leonides
Publisher : Academic Press
Page : 484 pages
File Size : 11,27 MB
Release : 2012-12-02
Category : Technology & Engineering
ISBN : 9780323163033

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Advances in Robotic Systems, Part 1 shows how the activity in robotic systems has increased significantly over the past decade. Major centers of research and development in robotic systems were established on the international scene, and these became focal points for the brilliant research efforts of many academicians and industrial professionals. The systems aspects of robotics, in general, and of robot control, in particular, are manifested through a number of technical facts. This book comprises 10 chapters, with the first focusing on applications of neural networks to robotics. The following chapters then discuss a unified approach to kinematic modeling, identification and compensation for robot calibration; nonlinear control algorithms in robotic systems; and kinematic and dynamic task space motion planning for robot control. Other chapters cover discrete kinematic modeling techniques in Cartesian space for robotic system; force distribution algorithms for multifingered grippers; frequency analysis for a discrete-time robot system; minimum cost trajectory planning for industrial robots; tactile sensing techniques in robotic systems; and sensor data fusion in robotic systems. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.

Author : Andrew J. Kurdila
Publisher : John Wiley & Sons
Page : 514 pages
File Size : 37,30 MB
Release : 2019-12-16
Category : Technology & Engineering
ISBN : 1119524830

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A comprehensive review of the principles and dynamics of robotic systems Dynamics and Control of Robotic Systems offers a systematic and thorough theoretical background for the study of the dynamics and control of robotic systems. The authors—noted experts in the field—highlight the underlying principles of dynamics and control that can be employed in a variety of contemporary applications. The book contains a detailed presentation of the precepts of robotics and provides methodologies that are relevant to realistic robotic systems. The robotic systems represented include wide range examples from classical industrial manipulators, humanoid robots to robotic surgical assistants, space vehicles, and computer controlled milling machines. The book puts the emphasis on the systematic application of the underlying principles and show how the computational and analytical tools such as MATLAB, Mathematica, and Maple enable students to focus on robotics’ principles and theory. Dynamics and Control of Robotic Systems contains an extensive collection of examples and problems and: Puts the focus on the fundamentals of kinematics and dynamics as applied to robotic systems Presents the techniques of analytical mechanics of robotics Includes a review of advanced topics such as the recursive order N formulation Contains a wide array of design and analysis problems for robotic systems Written for students of robotics, Dynamics and Control of Robotic Systems offers a comprehensive review of the underlying principles and methods of the science of robotics.

Author : C.T. Leonides
Publisher : Academic Press
Page : 335 pages
File Size : 22,8 MB
Release : 2012-12-02
Category : Technology & Engineering
ISBN : 0323162568

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Advances in Control Mechanics is based on a National Science Foundation-Sponsored Workshop on Control Mechanics, i.e., control system development using analytical methods of mechanics and active control of mechanical systems. Publication of the presentations at this workshop in this Academic Press series has made it possible to expand them into a format which will facilitate the study and utilization of their significant results by working professionals and research workers on the international scene. This book comprises 13 chapters, with the first focusing on recursive Lyapunov functions, particularly their properties and linear systems. Succeeding chapters tackle topics such as the Lyapunov functional approach to uncertain systems governed by functional differential equations with finite time-lag; and stabilizing discrete control laws for Hamiltonian systems. Other chapters cover component model reduction in canonical correlation coordinates; controlling a flexible plate to mimic a rigid one; the modal stability of imperfect cyclic systems; and simultaneous stabilization via low order controllers. The remaining chapters discuss the use of Liapunov techniques for collision-avoidance of robot arms; avoidance control of a two-point mechanical system; coordination controllers for multi-arm manipulators; MRAC techniques with application to robot manipulators; optimal preview controllers based upon explicit trajectory models; and analysis of a robot dragline for mining. This book will be of interest to practitioners in the fields of engineering and aeronautics.

Author : Dan Zhang
Publisher : Elsevier
Page : 282 pages
File Size : 15,75 MB
Release : 2020-12-05
Category : Technology & Engineering
ISBN : 0128223154

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Learning Control: Applications in Robotics and Complex Dynamical Systems provides a foundational understanding of control theory while also introducing exciting cutting-edge technologies in the field of learning-based control. State-of-the-art techniques involving machine learning and artificial intelligence (AI) are covered, as are foundational control theories and more established techniques such as adaptive learning control, reinforcement learning control, impedance control, and deep reinforcement control. Each chapter includes case studies and real-world applications in robotics, AI, aircraft and other vehicles and complex dynamical systems. Computational methods for control systems, particularly those used for developing AI and other machine learning techniques, are also discussed at length. Provides foundational control theory concepts, along with advanced techniques and the latest advances in adaptive control and robotics Introduces state-of-the-art learning-based control technologies and their applications in robotics and other complex dynamical systems Demonstrates computational techniques for control systems Covers iterative learning impedance control in both human-robot interaction and collaborative robots