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Robotics: Modelling, Planning and Control
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TLDR
Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control, suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.Abstract:
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 difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses: the fundamentals: kinematics, statics and trajectory planning; and the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in: dynamics and motion control of robot manipulators; mobile robots; motion planning; and interaction with the environment using exteroceptive sensory data (force and vision). Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a solutions manual (downloadable from www.springer.com/978-1-84628-641-4) containing the MATLAB code for computer problems; this is available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.read more
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Proceedings ArticleDOI
Energy-Optimal Cooperative Manipulation via Provable Internal-Force Regulation
TL;DR: This paper considers rigid cooperative manipulation systems, i.e., with rigid grasping contacts, and study energy-optimal conditions in the sense of minimization of the arising internal forces, which are inter-agent forces that do not contribute to object motion.
Proceedings ArticleDOI
Impedance control schemes for bilateral teleoperation
TL;DR: The effectiveness of the admittance control and its preference over other schemes in the context of homecare robotics are validated through experimentation, and results are presented.
Proceedings ArticleDOI
Target tracking by visual servoing
N. Djelal,N. Mechat,S. Nadia +2 more
TL;DR: This paper proposes to control a turret Pan-Tilt system using the visual features acquired by a webcam to compute the kinematics screw of the camera in the image frame using the jacobian of the robot.
Journal ArticleDOI
A Two-Stage Approach to Collaborative Fiber Placement through Coordination of Multiple Autonomous Industrial Robots
TL;DR: A two-stage approach to solve the challenges of optimal division and allocation of the work and performing path planning in a coordinated manner while considering the requirements and constraints that are unique to the fiber placement task is proposed.
Proceedings ArticleDOI
Mechanical design, simulation and nonlinear control of a new exoskeleton robot for use in upper-limb rehabilitation after stroke
TL;DR: A new robot for shoulder rehabilitation is introduced which is intended to be used in passive rehabilitation and can efficiently track the desired trajectory and reject constant bounded disturbance input to the system.