Kinematic Analysis of Robot Manipulators PDF Download

Author: Carl D. Crane, III
Publisher: Cambridge University Press
ISBN: 0521047935
Category : Science
Languages : en
Pages : 0

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Book Description
Introduction to robot manipulators, with case studies of industrial robots.

Author: Carl David Crane
Publisher: Cambridge University Press
ISBN: 0521570638
Category : Science
Languages : en
Pages : 443

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Book Description
Introduction to robot manipulators, with case studies of industrial robots.

Author: Carl D. Crane, III
Publisher: Cambridge University Press
ISBN: 9780521570633
Category : Technology & Engineering
Languages : en
Pages : 444

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Book Description
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.

Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 1402086008
Category : Technology & Engineering
Languages : en
Pages : 472

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Book Description
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.

Author: Henry W. Stone
Publisher: Springer Science & Business Media
ISBN: 9780898382372
Category : Technology & Engineering
Languages : en
Pages : 258

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Book Description
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. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.

Author: Rachid Manseur
Publisher:
ISBN:
Category : Kinematics
Languages : en
Pages : 278

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Book Description
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.

Author: Mordechai Ben-Ari
Publisher: Springer
ISBN: 3319625330
Category : Computers
Languages : en
Pages : 311

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Book Description
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.

Author: Lorenzo Sciavicco
Publisher: Springer Science & Business Media
ISBN: 1447104498
Category : Technology & Engineering
Languages : en
Pages : 391

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Book Description
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.

Author: Santhosh K V
Publisher: Springer Nature
ISBN: 9811603367
Category : Technology & Engineering
Languages : en
Pages : 503

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Book Description
This book presents the select proceedings of Control Instrumentation and System Conference, (CISCON 2020) held at Manipal Institute of Technology, MAHE, Manipal. It examines a wide spectrum covering the latest trends in the fields of instrumentation, sensors and systems, and industrial automation and control. The topics covered include image and signal processing, robotics, renewable energy, power systems and power drives, performance attributes of MEMS, multi-sensor data fusion, machine learning, optimization techniques, process control, safety monitoring, safety critical control, supervisory control, system modeling and virtual instrumentation. The book is a valuable reference for researchers and professionals interested in sensors, adaptive control, automation and control and allied fields.

Author: Adam Morecki
Publisher: Springer
ISBN: 3709125324
Category : Science
Languages : en
Pages : 589

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Book Description
This volume contains the basic concepts of modern robotics, basic definitions, systematics of robots in industry, service, medicine and underwater activity. Important information on walking and mili-walking machines are included as well as possible applications of microrobots in medicine, agriculture, underwater activity.