Proceedings of the ... Triennial World Congress of the International Federation of Automatic Control PDF Download

Author: International Federation of Automatic Control
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 580

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Author: Aude Billard
Publisher: MIT Press
ISBN: 0262367017
Category : Technology & Engineering
Languages : en
Pages : 425

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Book Description
Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 538

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Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.

Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 354023957X
Category : Technology & Engineering
Languages : en
Pages : 1626

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Book Description
With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

Author: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152

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Author:
Publisher:
ISBN:
Category : Mechanics, Applied
Languages : en
Pages : 400

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Author:
Publisher:
ISBN:
Category : Large space structures (Astronautics)
Languages : en
Pages : 280

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Book Description

Author:
Publisher: European Control Association
ISBN: 9782866012809
Category : Control theory
Languages : en
Pages : 834

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Proceedings of the European Control Conference 1991, July 2-5, 1991, Grenoble, France

Author: Carlos A. Canudas de Wit
Publisher: Elsevier Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 292

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Book Description
Adaptive control has been considered as an alternative in designing high-performance control systems, from the beginning of the 1950s. Since then, most of the adaptive control schemes have been formulated either in the continuous-time or in the discrete-time framework. Both approaches commonly use black-box'' models for describing the process to be controlled; models with known structure but unknown parameters. These models have the advantage that they are general but also the disadvantage that many parameters have to be estimated. There are in practice, however, many adaptive problems where the system can be described as partially known in the sense that part of the system dynamics is known and another part unknown. This is the kind of system considered in this book. Most of the adaptive algorithms that are reliable - in the sense that they guarantee closed-loop stability and some performance behaviour - require to a certain extent some system knowledge and a checking procedure for the caution update of the parameter estimates.

Author: Mark C. Readman
Publisher: CRC Press
ISBN: 9780849326011
Category : Technology & Engineering
Languages : en
Pages : 164

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Book Description
Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.