Last edited by Akinorr
Friday, July 31, 2020 | History

7 edition of Control of Redundant Robot Manipulators found in the catalog.

Control of Redundant Robot Manipulators

Theory and Experiments (Lecture Notes in Control and Information Sciences)

by R.V. Patel

  • 128 Want to read
  • 25 Currently reading

Published by Springer .
Written in English

    Subjects:
  • Artificial intelligence,
  • Computing and Information Technology,
  • Electrical engineering,
  • Electronics engineering,
  • Robotics,
  • Technology & Industrial Arts,
  • Engineering - Electrical & Electronic,
  • Computer Books: General,
  • Computers,
  • Science/Mathematics,
  • Robots,
  • Manipulators (Mechanism),
  • Artificial Intelligence - General,
  • Technology / Engineering / Electrical,
  • Automatic control,
  • Control systems

  • The Physical Object
    FormatPaperback
    Number of Pages208
    ID Numbers
    Open LibraryOL9055379M
    ISBN 103540250719
    ISBN 109783540250715

    Repetitive Motion Planning and Control of Redundant Robot Manipulators | Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation. He has published more than 80 journal and conference papers, and 1 : Sciavicco.

    References Zhang, Y. () Analysis and Design of Recurrent Neural Networks and Their Applications to Control and Robotic Systems, Ph.D. thesis, Chinese University of Hong Kong, Hong Kong, China. A typical redundant manipulator has seven joints, for example three at the shoulder, one elbow joint and three at the wrist. This manipulator can move its elbow around a circle while it maintains a specific position and orientation of its end-effector. A snake robot has many more than six degrees of freedom and is often called hyper-redundant.

    Book Abstract: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Nonlinear tracking control of kinematically redundant robot manipulators Abstract: In this short paper, we consider the nonlinear control of kinematically redundant robot manipulators. Specifically, we use a Lyapunov technique to design a model-based nonlinear controller that achieves exponential link position and subtask by:


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Control of Redundant Robot Manipulators by R.V. Patel Download PDF EPUB FB2

All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator.

This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and by: All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator.

This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions.

These schemes are unified as quadratic programs (QPs), which are. Control of Redundant Robot Manipulators: Theory and Experiments.

This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator.

It presents the latest research from the field with a. This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators.

Known as " QP-unified motion planning and control of redundant manipulators" theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics. Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits.

neurocontroller to control a redundant manipulator. With respect to the nature of the learning which occurs within an action–perception cycle, the previously mentioned controller was developed to a model-free learning-based framework to control the pose of the end effector of a redundant robotic arm (Asuni et al., ).

The same work with. Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators.

KINEMATIC CONTROL OF REDUNDANT ROBOT MANIPULATORS Section 3. The gradient projection method is illustrated in Section 4 and the augmented task space approach is presented in Section 5. Section 6 concentrates on the inverse kinematic function Size: KB.

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions.

These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. other control fields. For robot manipulator control per se, the book is rigorous, thorough and comprehensive in its presentation and is an excellent addition to the series of advanced course textbooks in control and signal processing.

M.J. Grimble and M.A. Johnson Glasgow, Scotland, U.K. March File Size: 3MB. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation.

He has published more than 80 journal and conference papers, and 1 book. Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions.

These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical : Yunong Zhang. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy.

The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom.

Control of Redundant Robotic Manipulators with State Constraints hand, the controller proposed in our work adaptively varies both kinematic parameters of the Jacobian matrix and th e dynamic ones in such a way as to stably follow by the end-effector a geom etric path.

The paper is organized as follows. Inverse kinematic model of redundant robots. A robot manipulator is redundant when its number of degrees of freedom N is greater than the dimension of the workspace M.

The difference (N – M) represents the degree of redundancy. In this case, the inverse kinematic model gives an infinite number of. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems.

Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems. In this paper, neural network-based nonlinear dynamical control of kinematically redundant robot manipulators is considered.

The neural network-based controller achieves end-effector trajectory tracking as well as subtask tracking by: This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems.

dynamics, and control of robot manipulators. The current book is an attempt to provide this formulation not just for a single robot but also for multifingered robot hands, involving multiple cooperating robots. It grew from our efforts to teach a course to a hybrid audience of electricalFile Size: 2MB.Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits.

It is also a valuable working.Get this from a library! Control of redundant robot manipulators: theory and experiments. [R V Patel; F Shadpey] -- This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator.

It presents the latest research from the field with a good balance between.