Control Dynamics of Robotic Manipulators
Control Dynamics of Robotic Manipulators

Author: J Skowronski

Publisher: Elsevier

Published: 2012-12-02

Total Pages: 279

ISBN-13: 0323158110

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Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements. The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model). The text also describes equations used to determine the force characteristics, energy, and power required in manipulators. For example, damping forces dissipate energy caused by dry friction or viscous damping at mechanical joints due to slips and sheer effects on surfaces. Other examples are oil, water, and air resistance in the environment of the manipulator, as well as damping in links caused by microscopic interface effects. Demands for high-speed and high-accuracy in manipulators require sturdiness in control against variations in the system parameter. The book cites a situation where the manipulator works in a "hot cell" and must be controlled remotely. The text also tackles the avoidance of obstacles by nonvisual means by referring to the works of Lozano, Perez and Wesley, and of Reibert and Horn. The text is useful for students of civil, structural, and mechanical engineering. It will also profit technicians of automatic, telecontrol, and designers of industrial machinery.

Mechanics of Robotic Manipulation
Mechanics of Robotic Manipulation

Author: Matthew T. Mason

Publisher: MIT Press

Published: 2001-06-08

Total Pages: 282

ISBN-13: 9780262263740

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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.

Dynamics and Control of Robotic Manipulators with Contact and Friction
Dynamics and Control of Robotic Manipulators with Contact and Friction

Author: Shiping Liu

Publisher: John Wiley & Sons

Published: 2019-02-11

Total Pages: 266

ISBN-13: 1119422485

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A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

ROBOTICS
ROBOTICS

Author: GURUPRASAD, K. R.

Publisher: PHI Learning Pvt. Ltd.

Published: 2019-09-01

Total Pages: 244

ISBN-13: 9388028627

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This book focusses on one of the important classes of Robots known as manipulators or robotic arms, and provides a thorough treatment of its kinematics, dynamics, and control. The book also covers the problem of trajectory generation and robot programming. The text, apart from providing a detailed account of topics such as on taxonomy of robots, spatial description of rigid bodies, kinematics of manipulator, concept of dexterous workspace, concept of singularity, manipulator dynamics using both the Newton–Euler and Lagrangian approaches with a deeper insight into the manipulator dynamics, manipulator control, and programming, additionally encompasses topics on motion planning, intelligent control, and distributed control of manipulators. The book is an excellent learning resource for understanding the complexities of manipulator design, analysis, and operation. It clearly presents ideas without compromising on the mathematical rigour. KEY FEATURES • Full coverage of syllabi of all the Indian universities • Based on classroom-tested lecture notes • Numerous illustrative examples • Chapter-end problems for brainstorming Primarily designed for students studying Robotics in undergraduate and postgraduate engineering courses in mechanical and mechatronics disciplines, the book is also of immense value to the students pursuing research in robotics. Instructor Resources PPTs and Solution Manual are also available for the faculty members who adopt the book.