Performance Analysis and Optimization of Parallel Manipulators, Chao Yang, Qinchuan Li
Автор: Angel Santamaria-Navarro; Joan Sol?; Juan Andrade- Название: Visual Guidance of Unmanned Aerial Manipulators ISBN: 3030072177 ISBN-13(EAN): 9783030072179 Издательство: Springer Рейтинг: Цена: 16769.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
Описание: This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs.
Описание: This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Описание: Abstract: A great deal of research work has been focussed on the theoretical and experimental studies of mechanical manipulators in recent years. Almost all of these works are related to open-loop serial-link mechanisms, but only a few have dealt with multi-degree-of-f reedom parallel manipulators such as the Stewart platform or similar mechanisms . A new type of two-degree-of -freedom Rotary-Linear (R-L) actuator was adapted in this work. Several possible configurations of parallel six-degree-of-f reedom manipulators with ground-mounted actuators have been synthesized. With parallel configuration of the manipulators, the computations can be performed simultaneously. Therefore, the computation time will be significantly reduced. Workspace analysis of a six-degree-of -freedom parallel manipulator has been presented by determining the shapes and boundaries of the subworkspace and root regions in the subworkspace. The workspace of the manipulator is obtained as the common reachable region of the subworkspaces determined by the corresponding subchains. The orientation and the rotatability of the platform are also investigated. Finally, mechanical error analysis of the manipulator, due to the minor inaccuracies in displacements of the actuators, is studied by using the theory of screws. Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Kinematics of Parallel Manipulators With Ground-mounted Actuators" by Tzu-Chen Weng, 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: Escorcia Hernandez, Jonatan Martin (Polytechnic University of Tulancingo, Mexico) Chemori, Ahmed (University of Montpellier, France) Sierra, Hipolito Название: Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators ISBN: 0323961010 ISBN-13(EAN): 9780323961011 Издательство: Elsevier Science Рейтинг: Цена: 18191.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Featuring an easy-to-learn and easy-to-use reference system acclaimed for more than five generations, the Thompson Chain-Reference Bible enables you to search the breadth of Scripture`s teachings on thousands of topics. Ideal for personal study and sermon preparation, it`s now easier to read with the NKJV Comfort Print typeface.
Описание: Abstract: A great deal of research work has been focussed on the theoretical and experimental studies of mechanical manipulators in recent years. Almost all of these works are related to open-loop serial-link mechanisms, but only a few have dealt with multi-degree-of-f reedom parallel manipulators such as the Stewart platform or similar mechanisms . A new type of two-degree-of -freedom Rotary-Linear (R-L) actuator was adapted in this work. Several possible configurations of parallel six-degree-of-f reedom manipulators with ground-mounted actuators have been synthesized. With parallel configuration of the manipulators, the computations can be performed simultaneously. Therefore, the computation time will be significantly reduced. Workspace analysis of a six-degree-of -freedom parallel manipulator has been presented by determining the shapes and boundaries of the subworkspace and root regions in the subworkspace. The workspace of the manipulator is obtained as the common reachable region of the subworkspaces determined by the corresponding subchains. The orientation and the rotatability of the platform are also investigated. Finally, mechanical error analysis of the manipulator, due to the minor inaccuracies in displacements of the actuators, is studied by using the theory of screws. Dissertation Discovery Company and University of Florida are dedicated to making scholarly works more discoverable and accessible throughout the world. This dissertation, "Kinematics of Parallel Manipulators With Ground-mounted Actuators" by Tzu-Chen Weng, 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: 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: Andreas M?ller; Dimiter Zlatanov Название: Singular Configurations of Mechanisms and Manipulators ISBN: 3030052184 ISBN-13(EAN): 9783030052188 Издательство: Springer Рейтинг: Цена: 13974.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.
Автор: Angel Santamaria-Navarro; Joan Sol?; Juan Andrade- Название: Visual Guidance of Unmanned Aerial Manipulators ISBN: 3319965794 ISBN-13(EAN): 9783319965796 Издательство: Springer Рейтинг: Цена: 16769.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
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.
Автор: Vigen Arakelian Название: Dynamic Decoupling of Robot Manipulators ISBN: 3030089738 ISBN-13(EAN): 9783030089733 Издательство: Springer Рейтинг: Цена: 18167.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria.Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control.This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
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.
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