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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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Journal ArticleDOI
An inverse kinematic model of the human training centrifuge motion simulator
TL;DR: In this article, an inverse kinematic model for a centrifuge motion simulator is presented to verify newly defined absolute acceleration profiles using a human training centrifuge with three degrees of freedom.
Proceedings ArticleDOI
Visual coordination task for human-robot collaboration
TL;DR: This work considers one instance of a visual coordination task, with the robot end-effector that should maintain a prescribed position with respect to a moving RGB-D camera while pointing at it, and introduces a relaxed version of the pointing part of the task.
Journal ArticleDOI
Design of a single motor, tendon driven redundant manipulator with reduced driving joint torques
TL;DR: This paper presents a lightweight tendon drive redundant manipulator design with reduced joint torque using a single motor that minimizes the number of actuators required and the power consumption.
Proceedings ArticleDOI
Stable Gaussian Process based Tracking Control of Lagrangian Systems.
TL;DR: In this paper, a data-driven control law that ensures closed loop stability of Lagrangian systems is developed, where the gains of the feedback part are adapted based on the uncertainty of the learned model.
Proceedings ArticleDOI
A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability
TL;DR: The paper introduces the novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians) and discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.