Fractional Modeling and Controller Design of Robotic Manipulators: With Hardware Validation, Singh Abhaya Pal, Deb Dipankar, Agrawal Himanshu
Автор: Huang An-Chyau & Chien Ming-Chih Название: Adaptive Control Of Robot Manipulators: A Unified Regressor-Free Approach ISBN: 9814307416 ISBN-13(EAN): 9789814307413 Издательство: World Scientific Publishing Рейтинг: Цена: 15048.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. This title works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot.
Описание: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance.
Описание: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance.
Описание: Introduction.- Mathematical Preliminaries.- PDE Modeling for Flexible Manipulator.- PDE Boundary Control Using Singular Perturbation Approach.- Boundary Control for Flexible Manipulator with Exponential Convergence.- Boundary Control for a Flexible Manipulator with LaSalle Analysis.- Boundary Control for a Flexible Manipulator with State Constraints Using Barrier Lyapunov Function.- Boundary Control of Flexible Manipulator with Input Constraints.- A Robust Observer Design for Flexible Manipulator Based on PDE Model.- Infinite Dimensional Disturbance Observer for Flexible Manipulator.- Boundary Control for a Flexible Manipulator with Guaranteed Transient Performance.- Conclusions.
Описание: The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework.In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint.In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.
Автор: Hofland Dmitry Название: Handbook of Robotic Manipulators ISBN: 1632382784 ISBN-13(EAN): 9781632382788 Издательство: Неизвестно Цена: 17702.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Автор: Hofland Dmitry Название: Robotic Manipulators ISBN: 1632384027 ISBN-13(EAN): 9781632384027 Издательство: Неизвестно Цена: 17702.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Abstract: Please see abstract Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Geometry and Mappings of Screws With Applications to the Hybrid Control of Robotic Manipulators" by Harvey Lipkin, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Описание: Abstract: Please see abstract Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Geometry and Mappings of Screws With Applications to the Hybrid Control of Robotic Manipulators" by Harvey Lipkin, was obtained from University of Florida and is being sold with permission from the author. A digital copy of this work may also be found in the university's institutional repository, IR@UF. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation.
Автор: Gerasimos Rigatos; Krishna Busawon Название: Robotic Manipulators and Vehicles ISBN: 3030085554 ISBN-13(EAN): 9783030085551 Издательство: Springer Рейтинг: Цена: 23757.00 р. Наличие на складе: Поставка под заказ.
Описание:
This monograph addresses problems of:
•nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and
•nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups.
The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.
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.
