Adaptive Control for Robotic Manipulators PDF Download

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1351678922
Category : Science
Languages : en
Pages : 407

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Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Author: Christine Chevallereau
Publisher: John Wiley & Sons
ISBN: 1118622979
Category : Technology & Engineering
Languages : en
Pages : 249

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Book Description
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

Author: Aleksandar Rodić
Publisher: Springer
ISBN: 3319490583
Category : Technology & Engineering
Languages : en
Pages : 651

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Book Description
This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master’s and Ph.D. students working on robotics projects.

Author: Prahlad Vadakkepat
Publisher: Springer
ISBN: 9789400760455
Category : Technology & Engineering
Languages : en
Pages : 0

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Book Description
Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Author: Manuel F Silva
Publisher: World Scientific
ISBN: 981323105X
Category : Technology & Engineering
Languages : en
Pages : 715

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Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of service robotics and associated support technologies around the theme of human-centric robotics. The book contains peer reviewed articles presented at the CLAWAR 2017 conference. The book contains a strong stream of papers on robotic locomotion strategies and wearable robotics for assistance and rehabilitation. There is also a strong collection of papers on non-destructive inspection, underwater and UAV robotics to meet the growing emerging needs in various sectors of the society. Robot designs based on biological inspirations are also strongly featured.

Author: Bernd Henze
Publisher: Springer Nature
ISBN: 3030872122
Category : Technology & Engineering
Languages : en
Pages : 209

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Book Description
This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.

Author: Malek Mouhoub
Publisher: Springer
ISBN: 3319920588
Category : Computers
Languages : en
Pages : 914

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Book Description
This book constitutes the thoroughly refereed proceedings of the 31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2018, held in Montreal, QC, Canada, in June 2018. The 53 full papers and 33 short papers presented were carefully reviewed and selected from 146 submissions. They are organized in the following topical sections: constraint solving and optimization; data mining and knowledge discovery; evolutionary computation; expert systems and robotics; knowledge representation, machine learning; meta-heuristics; multi-agent systems; natural language processing; neural networks; planning, scheduling and spatial reasoning; rough sets, Internet of Things (IoT), ubiquitous computing and big data; data science, privacy, and security; inelligent systems approaches in information extraction; and artificial intelligence, law and justice.

Author: Danielle C. Tarraf
Publisher: Springer
ISBN: 3319011596
Category : Technology & Engineering
Languages : en
Pages : 379

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Book Description
Cyber-physical systems (CPS) involve deeply integrated, tightly coupled computational and physical components. These systems, spanning multiple scientific and technological domains, are highly complex and pose several fundamental challenges. They are also critically important to society’s advancement and security. The design and deployment of the adaptable, reliable CPS of tomorrow requires the development of a basic science foundation, synergistically drawing on various branches of engineering, mathematics, computer science, and domain specific knowledge. This book brings together 19 invited papers presented at the Workshop on Control of Cyber-Physical Systems, hosted by the Department of Electrical & Computer Engineering at The Johns Hopkins University in March 2013. It highlights the central role of control theory and systems thinking in developing the theory of CPS, in addressing the challenges of cyber-trust and cyber-security, and in advancing emerging cyber-physical applications ranging from smart grids to smart buildings, cars and robotic systems.

Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 1461544319
Category : Technology & Engineering
Languages : en
Pages : 154

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Book Description
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Author: Shuuji Kajita
Publisher: Springer
ISBN: 364254536X
Category : Technology & Engineering
Languages : en
Pages : 232

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Book Description
This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.