A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.
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.
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.
Automated manufacturing is the topic of the day in industry and thus also in R&D investigation in both industrial laboratories and academia. The core of such studies lies in systems of robotic manipulators, with control of such systems for stability, effective goal reaching and coordination (timing, avoidance of collision) being an essential part of it. The manipulators must work at high speed and under considerable payloads which require nonlinear modelling. Their work is subject to bounded uncertainty in many parameters but precision must be secured. This book gives the theoretic base and specific algorithms for control, attaining the objectives under the above features. The algorithms given are in closed form, which makes for fast on-board computing.The book deals with its subject of systems of robots and their coordination control on a fundamental basis, using realistic untruncated models. It will be of lasting interest compared to texts dealing with details of the design of the day.
Since the late 1960s, there has been a revolution in robots and industrial automation, from the design of robots with no computing or sensorycapabilities (first-generation), to the design of robots with limited computational power and feedback capabilities (second-generation), and the design of intelligent robots (third-generation), which possess diverse sensing and decision making capabilities. The development of the theory of intelligent machines has been developed in parallel to the advances in robot design. This theory is the natural outcome of research and development in classical control (1950s), adaptive and learning control (1960s), self-organizing control (1970s) and intelligent control systems (1980s). The theory of intelligent machines involves utilization and integration of concepts and ideas from the diverse disciplines of science, engineering and mathematics, and fields like artificial intelligence, system theory and operations research. The main focus and motivation is to bridge the gap between diverse disciplines involved and bring under a common cover several generic methodologies pertaining to what has been defined as machine intelligence. Intelligent robotic systems are a specific application of intelligent machines. They are complex computer controlled robotic systems equipped with a diverse set of visual and non visual sensors and possess decision making and problem solving capabilities within their domain of operation. Their modeling and control is accomplished via analytical and heuristic methodologies and techniques pertaining to generalized system theory and artificial intelligence. Intelligent Robotic Systems: Theory, Design and Applications, presents and justifies the fundamental concepts and ideas associated with the modeling and analysis of intelligent robotic systems. Appropriate for researchers and engineers in the general area of robotics and automation, Intelligent Robotic Systems is both a solid reference as well as a text for a graduate level course in intelligent robotics/machines.
The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background
Here is a comprehensive presentation of methodology for the design and synthesis of an intelligent complex robotic system, connecting formal tools from discrete system theory, artificial intelligence, neural network, and fuzzy logic. The necessary methods for solving real time action planning, coordination and control problems are described. A notable chapter presents a new approach to intelligent robotic agent control acting in a realworld environment based on a lifelong learning approach combining cognitive and reactive capabilities. Another key feature is the homogeneous description of all solutions and methods based on system theory formalism.
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
