Numerical Modelling in Robotics
Numerical Modelling in Robotics

Author: Edgar Alonso Martínez García

Publisher: OmniaScience

Published: 2015-10-06

Total Pages: 467

ISBN-13: 8494211889

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Modern robotic systems are tied to operate autonomously in real-world environments performing a variety of complex tasks. Autonomous robots must rely on fundamental capabilities such as locomotion, trajectory tracking control, multi-sensor fusion, task/path planning, navigation, and real-time perception. Combining this knowledge is essential to design rolling, walking, aquatic, and hovering robots that sense and self-control. This book contains a mathematical modelling framework to support the learning of modern robotics and mechatronics, aimed at advanced undergraduates or first-year PhD students, as well as researchers and practitioners. The volume exposes a solid understanding of mathematical methods as a common modelling framework to properly interpret advanced robotic systems. Including numerical approximations, solution of linear and non-linear systems of equations, curves fitting, differentiation and integration of functions. The book is suitable for courses on robotics, mechatronics, sensing models, vehicles design and control, modelling, simulation, and mechanisms analysis. It is organised with 17 chapters divided in five parts that conceptualise classical mechanics to model a wide variety of applied robotics. It comprehends a hover-craft, an amphibious hexapod, self-reconfiguration and under-actuation of rolling and passive walking robots with Hoekens, Klann, and Jansen limbs for bipedal, quadruped, and octapod robots.

Mobile Robotics
Mobile Robotics

Author: Alonzo Kelly

Publisher: Cambridge University Press

Published: 2013-11-11

Total Pages: 717

ISBN-13: 110703115X

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Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning

Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots

Author: W. Khalil

Publisher: Butterworth-Heinemann

Published: 2004-07-01

Total Pages: 503

ISBN-13: 0080536611

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Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

Modern Robotics
Modern Robotics

Author: Kevin M. Lynch

Publisher: Cambridge University Press

Published: 2017-05-25

Total Pages: 545

ISBN-13: 1107156300

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A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Robot Dynamics And Control
Robot Dynamics And Control

Author: Mark W Spong

Publisher: John Wiley & Sons

Published: 2008-08-04

Total Pages: 356

ISBN-13: 9788126517800

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This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.

A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation

Author: Richard M. Murray

Publisher: CRC Press

Published: 2017-12-14

Total Pages: 488

ISBN-13: 1351469789

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A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Flexible Robot Manipulators
Flexible Robot Manipulators

Author: M. Osman Tokhi

Publisher: IET

Published: 2008-05-20

Total Pages: 579

ISBN-13: 0863414486

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This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.

Mechatronic Futures
Mechatronic Futures

Author: Peter Hehenberger

Publisher: Springer

Published: 2016-06-10

Total Pages: 273

ISBN-13: 3319321560

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Offering a comprehensive overview of the challenges, risks and options facing the future of mechatronics, this book provides insights into how these issues are currently assessed and managed. Building on the previously published book ‘Mechatronics in Action,’ it identifies and discusses the key issues likely to impact on future mechatronic systems. It supports mechatronics practitioners in identifying key areas in design, modeling and technology and places these in the wider context of concepts such as cyber-physical systems and the Internet of Things. For educators it considers the potential effects of developments in these areas on mechatronic course design, and ways of integrating these. Written by experts in the field, it explores topics including systems integration, design, modeling, privacy, ethics and future application domains. Highlighting novel innovation directions, it is intended for academics, engineers and students working in the field of mechatronics, particularly those developing new concepts, methods and ideas.

Mobile Robotics
Mobile Robotics

Author: Ulrich Nehmzow

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 290

ISBN-13: 1447100255

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Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18

Mobile Robotics: A Practical Introduction
Mobile Robotics: A Practical Introduction

Author: Ulrich Nehmzow

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 249

ISBN-13: 1447133927

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This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.