Download Free Kinematic Analysis Of Robot Manipulators Book in PDF and EPUB Free Download. You can read online Kinematic Analysis Of Robot Manipulators and write the review.

Introduction to robot manipulators, with case studies of industrial robots.
Introduction to robot manipulators, with case studies of industrial robots.
A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially connected by six revolute joints. A unique feature is its detailed analysis of 6R-P and 7R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.
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.
Computer controlled robot manipulators are becoming an important part of automated manufacturing plants thereby creating a need for reliable and fast control algorithms that can improve the performance of robot manipulators in industrial applications. An important part of such control algorithms is the inverse kinematics portion which consists of computing the values of the robotic joint variables corresponding to a desired and effector position and orientation. This work is based on a new approach that uses orthogonality of rotation matrices to reduce the problem to a simpler form. The reduction techniques are first used to analyze to the kinematics of four-degree-of-freedom (DOF) robots. The results obtained are then applied to the study of five- and six-degree-of-freedom manipulators. Fast one-and two-dimensional numerical techniques for solving five- and six-DOF arms of arbitrary geometry are developed. These new methods provide a large reduction in computational complexity and can be easily implemented in real-time applications. another contribution of this work is a classification of robot geometries in terms of inverse kinematic complexity. Some new sufficient structural conditions for the possibility of closed-form solutions for five- and six-DOF robot manipulators are described. In the case of six-DOF arms, structural conditions for the applicability of a one-dimensional iterative technique are also provided. Finally, in the example applications of the techniques presented here, we describe a six-degree-of freedom manipulator capable of achieving a particular end-effector pose in sixteen distinct configurations.
This open access book bridges the gap between playing with robots in school and studying robotics at the upper undergraduate and graduate levels to prepare for careers in industry and research. Robotic algorithms are presented formally, but using only mathematics known by high-school and first-year college students, such as calculus, matrices and probability. Concepts and algorithms are explained through detailed diagrams and calculations. Elements of Robotics presents an overview of different types of robots and the components used to build robots, but focuses on robotic algorithms: simple algorithms like odometry and feedback control, as well as algorithms for advanced topics like localization, mapping, image processing, machine learning and swarm robotics. These algorithms are demonstrated in simplified contexts that enable detailed computations to be performed and feasible activities to be posed. Students who study these simplified demonstrations will be well prepared for advanced study of robotics. The algorithms are presented at a relatively abstract level, not tied to any specific robot. Instead a generic robot is defined that uses elements common to most educational robots: differential drive with two motors, proximity sensors and some method of displaying output to the user. The theory is supplemented with over 100 activities, most of which can be successfully implemented using inexpensive educational robots. Activities that require more computation can be programmed on a computer. Archives are available with suggested implementations for the Thymio robot and standalone programs in Python.
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.
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 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.
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.