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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.
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.
Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.
Inverse Kinematics Solutions (IKS) as well as control of hyper-redundant robots are being under investigation by the robotics researchers due to the flexibility of configurations in achieving the same goal. End effectors attached at the tip of such robot are capable of reaching targets avoiding obstacles between the base of the robot and location of the target. Such robots can be programmed to continue operations successfully even after mechanical failure of few joints. However, it is very difficult to manage this flexibility due to the involvement of mathematical complexity in determining inverse kinematics of these robots, especially, handling of pseudo inverse of non-square matrices. Various techniques have so far been proposed by the researchers for inverse kinematics of hyper-redundant robots that involve wide range of mathematics including nonlinear optimization, Artificial Neural Network, Fuzzy Logic, etc. Most of these methods are often found to fail due to singular IKS. In this thesis a new technique has been proposed that assumes an initial configuration with a virtual layer. The virtual layer assumes an isosceles triangle formed of two subrobots each consisting of same number of links, and the imaginary line joining the location of the target and the base of the robot. Thus two sides of the isosceles triangle appear in singular configuration. In the successive steps the singularities are removed by first shifting the vertex towards the base of the triangle along the median of the triangle and then adjusting links on both subrobots to assume a coil shape. This ultimately leads to inverse kinematics of the hyper-redundant robot free from any singular configuration. Kinetics analyses are then done based on the IKS and appropriate actuators are selected accordingly. Total energy required to run the robot is found to depend on the selection of the point on the median line and is minimum corresponding to a point close to the base of the triangle. To verify the proposed IKS technique a laboratory scale four link prototype is built. Off-the-shelf servo motors are used as actuators in actuating the joints of the prototype. Results of the experiment show very good agreement with the analyses. Comparison of the proposed technique shows superiority over ANFIS, one of the recent techniques used for IKS of hyper-redundant robots. The proposed IKS technique and control approach is designed for planner robots with even number of links only. To make it generalized it needs to be studied for any number of links as well as robots in 3D space.