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Advances in robotic systems. advances in theory and applications / Part 1 of 2 :
Control and Dynamic Systems V39: Advances in Robotic Systems Part 1 of 2.
| Clasificación: | Libro Electrónico |
|---|---|
| Otros Autores: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
San Diego :
Academic Press,
�1991.
|
| Colección: | Control and dynamic systems ;
v. 39. |
| Temas: | |
| Acceso en línea: | Texto completo Texto completo |
Tabla de Contenidos:
- Front Cover; Advances in Robotic Systems, Part 1 of 2; Copyright Page; Table of Contents; CONTRIBUTORS; PREFACE; CHAPTER 1. APPLICATIONS OF NEURAL NETWORKS TO ROBOTICS; I. Introduction; II. Robot Arm Inverse Kinematics; III� Inverse Dynamic Solutions; IV. Neural Computation for Path Planning; V� Conclusion; References; Appendix: Proofs of the Lemma and the Theorems; CHAPTER 2. A UNIFIED APPROACH TO KINEMATIC MODELING, IDENTIFICATION AND COMPENSATION FOR ROBOT CALIBRATION; I .INTRODUCTION; II .KINEMATIC MODELING FOR ROBOT CALIBRATION; III .LINEARIZED KINEMATIC ERROR MODELS.
- IV. MODEL-BASED KINEMATIC IDENTIFICATION ALGORITHMSV. OPTIMAL ACCURACY COMPENSATION; VI . EXPERIMENTAL RESULTS USING THE CPC ERROR MODEL; REFERENCES; CHAPTER 3. NONLINEAR CONTROL ALGORITHMS IN ROBOTIC SYSTEMS; I Introduction; II General Model of a Robot Arm; III Nonlinear Feedback Applied to a Single Robot Arm; IV Extension of Single Robot Arm Control; V Coordinated Control of Multiple Robot Arms; VI Implementation; VII Computer Control Architecture; VIII Conclusion; References; CHAPTER 4. KINEMATIC AND DYNAMIC TASK SPACE MOTION PLANNING FOR ROBOT CONTROL; I. INTRODUCTION.
- II. KINEMATIC AND DYNAMIC MOTION SPACE ANALYSIS OF SINGLE ROBOT ARMSIII. KINEMATIC AND DYNAMIC MOTION SPACE ANALYSIS OF MULTIPLE COOPERATING ROBOT ARMS; IV. INTELLIGENT MACHINE MOTION PLANNING AND CONTROL; V. SUMMARY AND CONCLUSION; References; CHAPTER 5. DISCRETE KINEMATIC MODELING TECHNIQUES IN CARTESIAN SPACE FOR ROBOTIC SYSTEM; 1. INTRODUCTION; 2. DISCRETE MODELS OF ROBOT KINEMATICS IN THE CARTESIAN SPACE; 3. THE APPLICATION OF KINEMATIC MODELS TO COLLISION-FREE ROBOT MOTION PLANNING; REFERENCES; CHAPTER 6. FORCE DISTRIBUTION ALGORITHMS FOR MULTIFINGERED GRIPPERS; Abstract.
- I. IntroductionII. Formulation; III. Decomposition of the contact force field; IV. Equilibrating Forces; V. Interaction Forces; VII. Examples and Discussion; VIII. Conclusion; References; CHAPTER 7. FREQUENCY ANALYSIS FOR A DISCRETE-TIME ROBOT SYSTEM; I. INTRODUCTION; II. FREQUENCY-RESPONSE OF A DISCRETE TIME ROBOT SYSTEM; III. LAG-LEAD COMPENSATOR DESIGN; IV. REALIZATION ALGORITHM; V. IMPLEMENTATION RESULTS; VI .CONCLUSION; REFERENCES; CHAPTER 8. MINIMUM COST TRAJECTORY PLANNING FOR INDUSTRIAL ROBOTS; I Introduction; II Problem Statement; Ill Trajectory Planning; IV The Phase Plane Method.
- V The Dynamic Programming MethodVI Trajectory Planning by Iterative Improvement; VII Conclusions; References; CHAPTER 9. TACTILE SENSING TECHNIQUES IN ROBOTIC SYSTEMS; ABSTRACT; I. INTRODUCTION; II. A CONTACT POSITION DETECTION METHOD EMPLOYING FORCE/TORQUE INFORMATION; III. EXPERIMENTAL RESULTS; IV. DISCUSSION; V. CONCLUSION; ACKNOWLEDGMENT; REFERENCES; CHAPTER 10. Sensor Data Fusion in Robotic Systems; Abstract; 1 Introduction; 2 Sensor Data Fusion in Mobile Robotics; 3 Thermal & : Visual Sensors; 4 Tactile & Visual Sensors; 5 Thermal & Tactile Sensors; 6 Structured Light & Visual Sensing.