Robotics Automation

Control of Robot Manipulators by Frank L. Lewis

By Frank L. Lewis

This publication covers many points of the interesting study in cellular robotics. It offers with diverse elements of the keep an eye on challenge, specifically additionally lower than uncertainty and faults. Mechanical layout matters are mentioned besides new sensor and actuator thoughts. video games like football are an outstanding instance which contain a number of the aforementioned demanding situations in one complete and within the related time interesting framework. therefore, the ebook contains contributions facing facets of the Robotcup festival. The reader gets a suppose how the issues conceal nearly all engineering disciplines starting from theoretical learn to very software particular paintings. additionally fascinating difficulties for physics and arithmetic arises out of such study. we are hoping this ebook can be an inspiring resource of data and ideas, stimulating additional learn during this interesting box. the guarantees and attainable merits of such efforts are manifold, they vary from new transportation platforms, clever vehicles to versatile assistants in factories and development websites, over carrier robotic which support and aid us in day-by-day reside, all of the option to the chance for effective aid for impaired and advances in prosthetics.

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Extra resources for Control of Robot Manipulators

Sample text

Tanaka, Y. (2002). Motion planning for mobile manipulator with keeping manipulability. Proceedings of IEEE/RSJ International Conference on Intelligent Robotics and Systems, pp. 1663-1668, EPFL, Swizerland. Papadopoulos, E. & Rey, D. (1996). A new measure of tipover stability margin for mobile manipulators. Proceedings of IEEE International Conference on Robotics and Automation, pp. 3111-3116, Minneapolis, MN, USA. ; Donald, B. & Jennings, J. (1995). Moving furniture with teams of autonomous robots.

This adds extra degrees of freedom to the system, which makes the mobile manipulator more dexterous and it may become redundant. Redundancy is an important feature of the new generation of robots making them more versatile. For example, a redundant robot can avoid obstacles in the workspace while executing given task or it can optimize joint torques without modifying primary task, which is usually position and/or force tracking of the robot tool mounted on the top of the robot arm. Mobile manipulators typically consist of a robot manipulator mounted on a mobile platform.

675-690. ; Yoshida, E. & Kokaji, S. (1999). Self-assembly selfrepair method for a distributed mechanical system. IEEE Trans. on Robotics and Automation, Vol. 15, No. 6, pp. 1035-1045. Will, P. & Grossman, D. (1975). An experimental system for computer controlled mechanical assembly. IEEE Trans. on Computer, Vol. 24, pp. 879-888. Yamamoto, Y. & Yun, X. (1996). Effect of the dynamic interaction on coordinated control of mobile manipulators. IEEE Trans. on Robotics and Automation, Vol. 12, No. 5, pp.

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