Advances in Robot Control: From Everyday Physics to by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail

By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)

This quantity offers a special selection of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic keep watch over. quite a few his learn is mirrored during this ebook, along with contributions from prime specialists within the box, who've additionally been heavily linked to Suguru Arimoto at quite a few phases in his extraordinary profession. The publication is construct round issues: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like routine nevertheless. those subject matters outlined a lot of Arimoto’s examine within the box of robotic regulate and are the cornerstones of his conception of human robotics. themes coated within the e-book deal with normal movement and adaptive keep an eye on of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, man made potentials for nonholonomic structures, strength keep an eye on of haptic units and muscle-activated structures, modeling and research of human-like events in attaining and greedy projects. every one bankruptcy is self-contained and treats the topic cohesively and intensive. This quantity will offer an incredible reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.

Show description

Read Online or Download Advances in Robot Control: From Everyday Physics to Human-Like Movements PDF

Similar physics books

Transport Processes in Wood

This publication has the same topic content material to the author's prior circulate in wooden yet with significant updating end result of the abundance of study within the wooden technological know-how box on account that 1971. numerous diversified techniques were brought, rather in regard to wood-moisture relation­ ships. The function of water power within the equilibria among wooden and its humid and wet environments is taken into account.

Extra resources for Advances in Robot Control: From Everyday Physics to Human-Like Movements

Example text

In: Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, California 714–719 30. Singh S (1993) Motion planning and control of non-redundant manipulators at singularities. In: Proc. IEEE Int. Conf. on Robotics and Automation, Atlanta, Georgia 487–492 31. Burdick J (1991) A classification of 3R regional manipulator singularities and geometries. In: Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, California 2670–2675 32. Guckenheimer J, Holmes P (1986) Nonlinear Oscillations, Dynamical Systems, and Bifurcation of Vector Fields.

Advanced Robotics 19(4):401–434 8. Nakamura Y, Hanafusa H (1986) Inverse kinematic solutions with singularity robustness for robot manipulator control. ASME Journal of Dynamic Systems, Measurment and Control 108:163–171 9. Wampler C (1986) Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Transactions on Systems, Man, and Cybernetics 16(1):93–101 10. Chiaverini S, Siciliano B, Egeland O (1994) Review of damped least-squares inverse kinematics with experiments on an industrial robot manipulator,” IEEE Transactions on Control Systems Technology 2(2):123–134 32 Dragomir N.

The kinematic singularity at the intersection is a regular point singularity. Simulation data are shown in Fig. 2. The x − y graph in the lower left part of the figure shows the workspace boundary (the full circle) and the path described by the end-tip (the circular arc). Note that the q∗ speed graph is actually the graph of determinant det J . After about 3 s, change of its sign is observed which indicates motion through the kinematic singularity at the intersection point between workspace boundary and end-tip arc.

Download PDF sample

Rated 4.14 of 5 – based on 24 votes