Author: John J. Craig
Publisher: Prentice Hall
Release Date: 2005
Genre: Technology & Engineering
Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics.
Facts101 is your complete guide to Introduction to Robotics , Mechanics and Control. In this book, you will learn topics such as Manipulator kinematics, Inverse manipulator kinematics, Jacobians: velocities and static forces, and Manipulator dynamics plus much more. With key features such as key terms, people and places, Facts101 gives you all the information you need to prepare for your next exam. Our practice tests are specific to the textbook and we have designed tools to make the most of your limited study time.
Author: Saeed Niku
Publisher: John Wiley & Sons
Release Date: 2010-09-07
Genre: Technology & Engineering
Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned.
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.
Robotersteuerungen erfordern sehr lange Entwicklungszeiten und hohe Entwicklungskosten. Die Software wird sehr aufwändig von Hand entwickelt und implementiert.Eine wesentliche Herausforderung bei der Entwicklung von Steuerungssoftware für Roboter ist die Beherrschung der zunehmenden Variantenvielfalt.Die automatische, schnelle und zuverlässige Konfiguration der Bewegungssteuerung von beliebigen Robotertypen ist neuartig. Hierfür wurde in dieser Arbeit ein System zur automatisierten Konfiguration komponentenbasierter Software auf Basis einer Beschreibung der mechanischen Struktur und Eigenschaften von Industrierobotern entwickelt.Der Benutzer kann beispielsweise die Anzahl und Typen der Gelenkachsen eines Roboters vorgeben. Anhand dieser Beschreibung werden in einem ersten Schritt die mathematischen Modelle des Roboters automatisch generiert. In einem zweiten Schritt wird die Bewegungssteuerung durch relativ einfache Kombination von Softwarekomponenten systematisch konfiguriert.
Although the field of intelligent systems has grown rapidly in recent years, there has been a need for a book that supplies a timely and accessible understanding of this important technology. Filling this need, Case Studies in Intelligent Computing: Achievements and Trends provides an up-to-date introduction to intelligent systems. This edited book captures the state of the art in intelligent computing research through case studies that examine recent developments, developmental tools, programming, and approaches related to artificial intelligence (AI). The case studies illustrate successful machine learning and AI-based applications across various industries, including: A non-invasive and instant disease detection technique based upon machine vision through the image scanning of the eyes of subjects with conjunctivitis and jaundice Semantic orientation-based approaches for sentiment analysis An efficient and autonomous method for distinguishing application protocols through the use of a dynamic protocol classification system Nonwavelet and wavelet image denoising methods using fuzzy logic Using remote sensing inputs based on swarm intelligence for strategic decision making in modern warfare Rainfall–runoff modeling using a wavelet-based artificial neural network (WANN) model Illustrating the challenges currently facing practitioners, the book presents powerful solutions recently proposed by leading researchers. The examination of the various case studies will help you develop the practical understanding required to participate in the advancement of intelligent computing applications. The book will help budding researchers understand how and where intelligent computing can be applied. It will also help more established researchers update their skills and fine-tune their approach to intelligent computing.
Author: Clarence W. de Silva
Publisher: CRC Press
Release Date: 2015-12-01
Genre: Technology & Engineering
An Up-To-Date Reference on the Latest Developments of Mechatronics Geared toward engineers, designers, researchers, educators, and students, Mechatronics: Fundamentals and Applications focuses on integrating practice with theory relevant to electromechanical and multidomain systems. A result of the Distinguished Visiting Fellowship of the Royal Academy of Engineering, UK, held by Clarence W. de Silva, the book contains 15 chapters written by individual contributors, many of whom were speakers at the workshop. What Are Mechatronic Systems? Divided into two sections, this book covers the fundamentals and applications of mechatronic devices and systems and emphasizes specific topics that include: modeling and analytical formulations, simulation methods, design approaches, control techniques, practical tools, and cutting-edge systems and applications. The book highlights methodologies that encompass modeling, analysis, design, control, monitoring, diagnosis of mechatronic systems, and mechatronic systems and technologies. In addition, it illustrates topics by using numerous examples and various case studies from real implementations and incorporates analytical methods, practical considerations, design issues, and experimental techniques throughout the book. The text also covers some state-of-the-art technologies such as Bio-MEMS, self-powered systems and biologically inspired systems. A broad introduction to the subject of mechatronic engineering, this book: Presents the concepts of mechatronic design quotient (MDQ) and design evolution through modeling, health monitoring, design expert system, and evolutionary optimization Outlines the evolution of the discipline of mechatronics from its early days leading up to the present Includes the fundamental theory of mechanics of materials, which can be employed for application in mechatronics Explores how signals can be measured to avoid common pitfalls in signal acquisition and processing Introduces and demonstrates reinforcement learning or Q learning in physical robotic tasks, and more Mechatronics: Fundamentals and Applications presents the relevance of modeling, design, and instrumentation in the development of a mechatronic system or product and serves as a reference tool and informational resource for engineers in industry, as well as researchers and students in the field of mechatronics.
Designed to benefit scientific and engineering applications, Numerical Methods for Engineers and Scientists Using MATLAB® focuses on the fundamentals of numerical methods while making use of MATLAB software. The book introduces MATLAB early on and incorporates it throughout the chapters to perform symbolic, graphical, and numerical tasks. The text covers a variety of methods from curve fitting to solving ordinary and partial differential equations. Provides fully worked-out examples showing all details Confirms results through the execution of the user-defined function or the script file Executes built-in functions for re-confirmation, when available Generates plots regularly to shed light on the soundness and significance of the numerical results Created to be user-friendly and easily understandable, Numerical Methods for Engineers and Scientists Using MATLAB® provides background material and a broad introduction to the essentials of MATLAB, specifically its use with numerical methods. Building on this foundation, it introduces techniques for solving equations and focuses on curve fitting and interpolation techniques. It addresses numerical differentiation and integration methods, presents numerical methods for solving initial-value and boundary-value problems, and discusses the matrix eigenvalue problem, which entails numerical methods to approximate a few or all eigenvalues of a matrix. The book then deals with the numerical solution of partial differential equations, specifically those that frequently arise in engineering and science. The book presents a user-defined function or a MATLAB script file for each method, followed by at least one fully worked-out example. When available, MATLAB built-in functions are executed for confirmation of the results. A large set of exercises of varying levels of difficulty appears at the end of each chapter. The concise approach with strong, up-to-date MATLAB integration provided by this book affords readers a thorough knowledge of the fundamentals of numerical methods utilized in various disciplines.
From aeronautics and manufacturing to healthcare and disaster management, systems engineering (SE) now focuses on designing applications that ensure performance optimization, robustness, and reliability while combining an emerging group of heterogeneous systems to realize a common goal. Use SoS to Revolutionize Management of Large Organizations, Factories, and Systems Intelligent Control Systems with an Introduction to System of Systems Engineering integrates the fundamentals of artificial intelligence and systems control in a framework applicable to both simple dynamic systems and large-scale system of systems (SoS). For decades, NASA has used SoS methods, and major manufacturers—including Boeing, Lockheed-Martin, Northrop-Grumman, Raytheon, BAE Systems—now make large-scale systems integration and SoS a key part of their business strategies, dedicating entire business units to this remarkably efficient approach. Simulate Novel Robotic Systems and Applications Transcending theory, this book offers a complete and practical review of SoS and some of its fascinating applications, including: Manipulation of robots through neural-based network control Use of robotic swarms, based on ant colonies, to detect mines Other novel systems in which intelligent robots, trained animals, and humans cooperate to achieve humanitarian objectives Training engineers to integrate traditional systems control theory with soft computing techniques further nourishes emerging SoS technology. With this in mind, the authors address the fundamental precepts at the core of SoS, which uses human heuristics to model complex systems, providing a scientific rationale for integrating independent, complex systems into a single coordinated, stabilized, and optimized one. They provide readers with MATLAB® code, which can be downloaded from the publisher's website to simulate presented results and projects that offer practical, hands-on experience using concepts discussed throughout the book.
Author: Nadia Magnenat-Thalmann
Publisher: Springer Science & Business Media
Release Date: 2009-11-24
Research into the 3D Physiological Human is a very active field focusing on the creation of patient-specific computer models for personalised healthcare. Reporting on how these models can simulate and provide a better understanding of human physiology and pathology, this book also looks at how the evolution and the improvement of technological devices such as scanners, medical instruments, and computer power have helped in our understanding of the human body and its functionalities. The book contains contributions from leading researchers from a variety of disciplines (including computer graphics, biomechanics, knowledge representation, human-machine interfaces etc) associated with medical imaging, simulation, computer-assisted surgery and 3D semantics. Divided into three parts: anatomical and physiological modelling, physically-based simulation, and medical analysis and knowledge management, this book provides a clear picture of the most recent advances in this increasingly important area.
Author: Kevin M. Lynch
Publisher: Cambridge University Press
Release Date: 2017-05-25
This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book, and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject.
Dieses Lehr- und Handbuch behandelt sowohl die elementaren Konzepte als auch die fortgeschrittenen und zukunftsweisenden linearen und nichtlinearen FE-Methoden in Statik, Dynamik, Festkörper- und Fluidmechanik. Es wird sowohl der physikalische als auch der mathematische Hintergrund der Prozeduren ausführlich und verständlich beschrieben. Das Werk enthält eine Vielzahl von ausgearbeiteten Beispielen, Rechnerübungen und Programmlisten. Als Übersetzung eines erfolgreichen amerikanischen Lehrbuchs hat es sich in zwei Auflagen auch bei den deutschsprachigen Ingenieuren etabliert. Die umfangreichen Änderungen gegenüber der Vorauflage innerhalb aller Kapitel - vor allem aber der fortgeschrittenen - spiegeln die rasche Entwicklung innerhalb des letzten Jahrzehnts auf diesem Gebiet wieder. TOC:Eine Einführung in den Gebrauch von Finite-Elemente-Verfahren.-Vektoren, Matrizen und Tensoren.-Einige Grundbegriffe ingenieurwissenschaftlicher Berechnungen.-Formulierung der Methode der finiten Elemente.-Formulierung und Berechnung von isoparametrischen Finite-Elemente-Matrizen.-Nichtlineare Finite-Elemente-Berechnungen in der Festkörper- und Strukturmechanik.-Finite-Elemente-Berechnungen von Wärmeübertragungs- und Feldproblemen.-Lösung von Gleichgewichtsbeziehungen in statischen Berechnungen.-Lösung von Bewegungsgleichungen in kinetischen Berechnungen.-Vorbemerkungen zur Lösung von Eigenproblemen.-Lösungsverfahren für Eigenprobleme.-Implementierung der Finite-Elemente-Methode.