Robot ManipulatorsMarco Ceccarelli In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration. |
Contents
Experimental Results on Variable Structure Control | 1 |
A Mathematical Tool for Modeling Path Planning and | 21 |
VIII | 47 |
Kinematic Design of Manipulators | 49 |
Gentle Robotic Handling Using Acceleration Compensation | 73 |
Calibration of Robot Reference Frames for | 95 |
Control of Robotic Systems Undergoing | 113 |
Motion Control of a Robot Manipulator in Free Space Based on Model | 137 |
On transpose Jacobian control for monocular fixedcamera 3D Direct | 243 |
Novel Framework of Robot Force Control Using Reinforcement Learning | 259 |
Link Mass Optimization Using Genetic Algorithms | 275 |
FPGARealization of a Motion Control IC for Robot Manipulator | 291 |
Towards Simulation of Custom Industrial Robots | 331 |
Design and Simulation of Robot Manipulators | 347 |
Softcomputing Techniques for the Trajectory Planning | 373 |
Robot Control Using OnLine Modification of Reference Trajectories | 399 |
Experimental Control of Flexible Robot Manipulators | 155 |
Improvement of Force Control in Robotic Manipulators | 181 |
Adaptive Neural Network Based Fuzzy Sliding Mode Control | 201 |
Impedance Control of Flexible Robot Manipulators | 211 |
Simple Effective Control for Robot Manipulators with Friction | 225 |
Motion Behavior of Null Space in Redundant Robotic Manipulators | 413 |
Paddle Juggling by Robot Manipulator with Visual Servo | 425 |
An Industrial Robot as Part of an Automatic System for | 441 |
Common terms and phrases
acceleration algorithm angle applications approach architecture axis camera compensation computation configuration considered control law Control of Robot control system coordinates defined denotes desired DynaCal dynamic model end-effector equation error estimation experimental feature points feedback Figure filter force control force sensor formulation FPGA friction function fuzzy Gamez genetic algorithms IEEE impedance control implemented industrial robot input inverse kinematics Jacobian joint positions linear measurement mechanical Mechatronics method model predictive control module motion control motor Nios II nonlinear null space object obtained optimal output parallel manipulators performance PIC microcontroller PID controller predictive control problem proposed quaternion real robot reference rigid robot base frame robot calibration robot cell robot controller robot kinematic robot manipulator robot system robot TCP positions Robotics and Automation rotation shown in Fig solution surface tasks TCP frame techniques torque tracking trajectory values variables vector velocity visual servoing workcell workspace