Author : Roy David Kornbluh
Publisher :
Page : 336 pages
File Size : 41,22 MB
Release : 1984
Category :
ISBN :
Author : John J. Craig
Publisher : Addison Wesley Publishing Company
Page : 152 pages
File Size : 27,83 MB
Release : 1988
Category : Technology & Engineering
ISBN :
Author : Kuo-Chia Liu
Publisher :
Page : pages
File Size : 31,14 MB
Release : 1997
Category :
ISBN :
Author : Wade H. Shafer
Publisher : Springer Science & Business Media
Page : 407 pages
File Size : 40,54 MB
Release : 2012-12-06
Category : Science
ISBN : 1468451979
Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Data Analysis and Synthesis (CINDAS) * at Purdue University in 1 957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 29 (thesis year 1984) a total of 12,637 theses titles from 23 Canadian and 202 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this important annual reference work. While Volume 29 reports theses submitted in 1984, on occasion, certain univer sities do report theses submitted in previous years but not reported at the time.
Author : Dan Zhang
Publisher : CRC Press
Page : 407 pages
File Size : 27,80 MB
Release : 2017-02-03
Category : Science
ISBN : 1351678922
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 : Michael B Leahy (Jr)
Publisher :
Page : 218 pages
File Size : 25,92 MB
Release : 1986
Category :
ISBN :
A robotic manipulator dynamically based controller performance baseline is established by the creation and utilization of a hierarchical robotic evaluation environment. Creation of a hierarchical robotic evaluation environment provides an original solution to the problems that previously constrained real-time evaluation of modern manipulator control schemes. Utilization of that environment fulfills the application of proposed theories. The performance baseline is established by simulated and experimental evaluation of feedforward dynamics and feedback loop design for joint motion high speed trajectory tracking robot control. The real-time performance produced by application of all proposed robotic control techniques to harmonic and gear driven manipulators can be extrapolated from the baseline. A feedforward loop composed of uncoupled inertia and gravity dynamics exhibited the best tracking accuracy. Forces unmodeled by those dynamics can be effectively treated as disturbances to the feedback loop. Dynamic based control techniques exhibited the potential to control high speed gross motion of a manipulator without additional sensor devices.
Author : M. Osman Tokhi
Publisher : IET
Page : 579 pages
File Size : 39,38 MB
Release : 2008-05-20
Category : Technology & Engineering
ISBN : 0863414486
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Author : Shiping Liu
Publisher : John Wiley & Sons
Page : 266 pages
File Size : 13,17 MB
Release : 2019-02-11
Category : Technology & Engineering
ISBN : 1119422485
A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Author : Etienne Dombre
Publisher : John Wiley & Sons
Page : 304 pages
File Size : 14,86 MB
Release : 2013-03-01
Category : Technology & Engineering
ISBN : 1118614100
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.
Author : Clarence W. de Silva
Publisher : CRC Press
Page : 368 pages
File Size : 38,34 MB
Release : 2018-05-02
Category : Computers
ISBN : 1351437690
The emergence of fuzzy logic and its applications has dramatically changed the face of industrial control engineering. Over the last two decades, fuzzy logic has allowed control engineers to meet and overcome the challenges of developing effective controllers for increasingly complex systems with poorly defined dynamics. Today's engineers need a working knowledge of the principles and techniques of fuzzy logic-Intelligent Control provides it. The author first introduces the traditional control techniques and contrasts them with intelligent control. He then presents several methods of representing and processing knowledge and introduces fuzzy logic as one such method. He highlights the advantages of fuzzy logic over other techniques, indicates its limitations, and describes in detail a hierarchical control structure appropriate for use in intelligent control systems. He introduces a variety of applications, most in the areas of robotics and mechatronics but with others including air conditioning and process/production control. One appendix provides discussion of some advanced analytical concepts of fuzzy logic, another describes a commercially available software system for developing fuzzy logic application. Intelligent Control is filled with worked examples, exercises, problems, and references. No prior knowledge of the subject nor advanced mathematics are needed to comprehend much of the book, making it well-suited as a senior undergraduate or first-year graduate text and a convenient reference tool for practicing professionals.
