Experimental Robotics
Experimental Robotics

Author: Bruno Siciliano

Publisher: Springer Nature

Published: 2021-03-27

Total Pages: 630

ISBN-13: 303071151X

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This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human‒robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection. Chapter “A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.

Motion Control of Underactuated Mechanical Systems
Motion Control of Underactuated Mechanical Systems

Author: Javier Moreno-Valenzuela

Publisher: Springer

Published: 2017-07-11

Total Pages: 230

ISBN-13: 3319583190

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This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.

Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation
Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Author: Qiang Li

Publisher: Academic Press

Published: 2022-04-02

Total Pages: 374

ISBN-13: 0323904173

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Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

The Reaction Wheel Pendulum
The Reaction Wheel Pendulum

Author: Daniel J. Block

Publisher: Morgan & Claypool Publishers

Published: 2007-12-01

Total Pages: 112

ISBN-13: 1598291955

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This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.

Journal of Vibration Testing and System Dynamics
Journal of Vibration Testing and System Dynamics

Author: Jan Awrejcewicz

Publisher: L& H Scientific Publishing

Published: 2018-07-01

Total Pages: 106

ISBN-13:

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Vibration Testing and System Dynamics is an interdisciplinary journal serving as the forum for promoting dialogues among engineering practitioners and research scholars. As the platform for facilitating the synergy of system dynamics, testing, design, modeling, and education, the journal publishes high-quality, original articles in the theory and applications of dynamical system testing. The aim of the journal is to stimulate more research interest in and attention for the interaction of theory, design, and application in dynamic testing. Manuscripts reporting novel methodology design for modelling and testing complex dynamical systems with nonlinearity are solicited. Papers on applying modern theory of dynamics to real-world issues in all areas of physical science and description of numerical investigation are equally encouraged. Progress made in the following topics are of interest, but not limited, to the journal: Vibration testing and designDynamical systems and controlTesting instrumentation and controlComplex system dynamics in engineeringDynamic failure and fatigue theoryChemical dynamics and bio-systemsFluid dynamics and combustionPattern dynamicsNetwork dynamicsPlasma physics and plasma dynamicsControl signal synchronization and trackingBio-mechanical systems and devicesStructural and multi-body dynamicsFlow or heat-induced vibrationMass and energy transfer dynamicsWave propagation and testing

Control Problems in Robotics
Control Problems in Robotics

Author: Antonio Bicchi

Publisher: Springer Science & Business Media

Published: 2007-07-12

Total Pages: 283

ISBN-13: 354036224X

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The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.

Advances in Robot Control
Advances in Robot Control

Author: Sadao Kawamura

Publisher: Springer Science & Business Media

Published: 2007-07-17

Total Pages: 360

ISBN-13: 3540373470

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This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Dynamics and Robust Control of Robot-Environment Interaction
Dynamics and Robust Control of Robot-Environment Interaction

Author: Miomir Vukobratovic

Publisher: World Scientific

Published: 2009

Total Pages: 657

ISBN-13: 9812834761

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This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.

Cable-Driven Parallel Robots
Cable-Driven Parallel Robots

Author: Tobias Bruckmann

Publisher: Springer Science & Business Media

Published: 2012-09-09

Total Pages: 443

ISBN-13: 3642319874

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Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.