Diagnostic and adaptive redundant robotic planning and control
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Diagnostic and adaptive redundant robotic planning and control

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Published .
Written in English

Subjects:

  • Robots -- Control systems.,
  • Robotics.

Book details:

Edition Notes

Statementby Anya Lynn Tascillo.
Series[Ph. D. theses / State University of New York at Binghamton -- no. 1521], Ph. D. theses (State University of New York at Binghamton) -- no. 1521.
The Physical Object
Paginationxiv, 246 leaves ;
Number of Pages246
ID Numbers
Open LibraryOL22197799M

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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.   The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually /5(4). 1. Introduction. In the last decade, development and research in robotics have been very active. Rigid robots, up to six degrees of freedom, were investigated greatly and extensively, and position or force/position control has been well rily to these rigid robots, the model of a redundant robot is more complex and its optimal control, within an environment, is difficult to Cited by: Robotics: Modelling, Planning and Control is a book that comprehensively covers all aspects of robotic fundamentals. It is particularly an excellent text for graduate educators, as it covers the fundamentals of the field with a rigorous formalism that is well blended with the technological aspects of : Springer-Verlag London.

Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions. are focusing on setpoint control or point-to-point control of robot. The research on robot control with uncertain kinematics and dynamics is just at the beginning stage [36]. In this paper, we present an adaptive Jacobian controller for trajectory tracking control of robot manipulators. This book brings together some of the latest research in robot applications, control, modeling, sensors and algorithms. Consisting of three main sections, the first section of the book has a focus on robotic surgery, rehabilitation, self-assembly, while the second section offers an insight into the area of control with discussions on exoskeleton control and robot learning among Cited by: The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing .

Robotics: Modelling, Planning and Control is a book that comprehensively covers all aspects of robotic fundamentals. It is particularly an excellent text for graduate educators, as it covers the fundamentals of the field with a rigorous formalism that is well blended with the technological aspects of by:   Kivelä T., Mattila J., Puura J., Launis S. () Redundant Robotic Manipulator Path Planning for Real-Time Obstacle and Self-Collision Avoidance. In: Ferraresi C., Quaglia G. (eds) Advances in Service and Industrial Robotics. RAAD Mechanisms and Machine Science, vol Springer, Cham. First Online 27 July Cited by: 1. The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, ), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile /5(17). Control of Robotic Systems: Our goal is to develop theoretical foundations and implementation schemes for a number of robotic systems, ranging from swarms of biomimetic robots, to nanomanipulation systems, to telemedicine systems, to automotive manufacturing systems. The research activities include system modeling and analysis, sensor.