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Modeling, identification & control of robots [[electronic resource] /] / W. Khalil & E. Dombre
| Modeling, identification & control of robots [[electronic resource] /] / W. Khalil & E. Dombre |
| Autore | Khalil W (Wisama) |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 |
| Descrizione fisica | 1 online resource (503 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) | DombreE (Etienne) |
| Collana | Kogan Page Science paper edition |
| Soggetto topico |
Robots - Mathematical models
Robots - Dynamics Robots - Control systems |
| ISBN |
1-281-98541-4
9786611985417 0-08-053661-1 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Front Cover; Modeling, Identification & Control of Robots; Copyright Page; Contents; Introduction; Chapter 1. Terminology and general definitions; 1.1. Introduction; 1.2. Mechanical components of a robot; 1.3. Definitions; 1.4. Choosing the number of degrees of freedom of a robot; 1.5. Architectures of robot manipulators; 1.6. Characteristics of a robot; 1.7. Conclusion; Chapter 2. Transformation matrix between vectors, frames and screws; 2.1. Introduction; 2.2. Homogeneous coordinates; 2.3. Homogeneous transformations; 2.4. Kinematic screw
2.5. Differential translation and rotation of frames2.6. Representation of forces (wrench); 2.7. Conclusion; Chapter 3. Direct geometric model of serial robots; 3.1 Introduction; 3.2. Description of the geometry of serial robots; 3.3. Direct geometric model; 3.4. Optimization of the computation of the direct geometric model; 3.5. Transformation matrix of the end-effector in the world frame; 3.6. Specification of the orientation; 3.7. Conclusion; Chapter 4. Inverse geometric model of serial robots; 4.1. Introduction; 4.2. Mathematical statement of the problem 4.3. Inverse geometric model of robots with simple geometry4.4 Inverse geometric model of decoupled six degree-of-freedom robots; 4.5. Inverse geometric model of general robots; 4.6. Conclusion; Chapter 5. Direct kinematic model of serial robots; 5.1. Introduction; 5.2. Computation of the Jacobian matrix from the direct geometric model; 5.3. Basic Jacobian matrix; 5.4. Decomposition of the Jacobian matrix into three matrices; 5.5. Efficient computation of the end-effector velocity; 5.6. Dimension of the task space of a robot; 5.7. Analysis of the robot workspace 5.8. Velocity transmission between joint space and task space5.9. Static model; 5.10. Second order kinematic model; 5.11. Kinematic model associated with the task coordinate representation; 5.12. Conclusion; Chapter 6. Inverse kinematic model of serial robots; 6.1 Introduction; 6.2. General form of the kinematic model; 6.3. Inverse kinematic model for a regular case; 6.4. Solution in the neighborhood of singularities; 6.5. Inverse kinematic model of redundant robots; 6.6. Numerical calculation of the inverse geometric problem; 6.7. Minimum description of tasks; 6.8. Conclusion Chapter 7. Geometric and kinematic models of complex chain robots7.1. Introduction; 7.2. Description of tree structured robots; 7.3. Description of robots with closed chains; 7.4. Direct geometric model of tree structured robots; 7.5. Direct geometric model of robots with closed chains; 7.6. Inverse geometric model of closed chain robots; 7.7. Resolution of the geometric constraint equations of a simple loop; 7.8. Kinematic model of complex chain robots; 7.9. Numerical calculation of qp and qc in terms of qa; 7.10. Number of degrees of freedom of robots with closed chains 7.11. Classification of singular positions |
| Altri titoli varianti | Robots |
| Record Nr. | UNINA-9910821568003321 |
Khalil W (Wisama)
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| London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Motion Planning / / Edgar A. Martínez García
| Motion Planning / / Edgar A. Martínez García |
| Autore | García Edgar A. Martínez |
| Pubbl/distr/stampa | London : , : IntechOpen, , 2022 |
| Descrizione fisica | 1 online resource (124 pages) |
| Disciplina | 629.892 |
| Soggetto topico |
Robots - Motion
Robots - Dynamics |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910688376403321 |
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García Edgar A. Martínez
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| London : , : IntechOpen, , 2022 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Motion Planning / / edited by Edgar Martínez García
| Motion Planning / / edited by Edgar Martínez García |
| Pubbl/distr/stampa | London : , : IntechOpen, , 2022 |
| Descrizione fisica | 1 online resource (124 pages) |
| Disciplina | 629.892 |
| Soggetto topico | Robots - Dynamics |
| ISBN | 1-83969-774-1 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910586661303321 |
| London : , : IntechOpen, , 2022 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Reinforcement learning of bimanual robot skills / / Adrià Colomé, Carme Torras
| Reinforcement learning of bimanual robot skills / / Adrià Colomé, Carme Torras |
| Autore | Colomé Adrià |
| Edizione | [1st edition 2020.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 |
| Descrizione fisica | 1 online resource (XIX, 182 p. 64 illus., 57 illus. in color.) |
| Disciplina | 629.892 |
| Collana | Springer Tracts in Advanced Robotics |
| Soggetto topico |
Machine learning
Robots - Dynamics Robots - Kinematics |
| ISBN | 3-030-26326-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Introduction -- State of the art -- Inverse kinematics and relative arm positioning -- Robot compliant control -- Preliminaries -- Sampling efficiency in learning robot motion -- Dimensionality reduction with MPs -- Generating and adapting ProMPs -- Conclusions. |
| Record Nr. | UNINA-9910767547003321 |
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Colomé Adrià
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| Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Robot dynamic manipulation : perception of deformable objects and nonprehensile manipulation control / / edited by Bruno Siciliano, Fabio Ruggiero
| Robot dynamic manipulation : perception of deformable objects and nonprehensile manipulation control / / edited by Bruno Siciliano, Fabio Ruggiero |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer, , [2022] |
| Descrizione fisica | 1 online resource (263 pages) : illustrations (chiefly color) |
| Disciplina | 629.892 |
| Collana | Springer tracts in advanced robotics |
| Soggetto topico | Robots - Dynamics |
| ISBN | 3-030-93290-7 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Foreword -- Preface -- Contents -- Contributors -- Acronyms -- Common Symbols -- Perception -- Deformation Modelling for a Physics-Based Perception System -- 1 Brief Introduction -- 2 Background on Deformation Models -- 2.1 Mesh-Based Approaches -- 2.2 Mesh-Free Approaches -- 2.3 Hybrid Approaches -- 3 FEM Elastic Model -- 3.1 Finite Element Modelling -- 3.2 Linear Elasticity -- 3.3 The Corotational Approach -- 4 Fracture Model -- 4.1 Fracture Detection -- 4.2 Fracture Propagation and Remeshing -- 4.3 Comments on the Results -- 5 Interaction Model -- 5.1 Collision Detection -- 5.2 Collision Response -- 6 Discussion and Conclusion -- References -- Non-rigid Tracking Using RGB-D Data -- 1 Brief Introduction -- 2 Related Work and Motivations -- 2.1 Registration Using Implicit Physical Modeling -- 2.2 Registration Using Explicit Physical Modeling -- 2.3 Handling Topological Changes, Fractures and Cuts -- 2.4 Multiple Objects Registration -- 2.5 Motivations and Contributions -- 2.6 Overview of the System -- 3 Visual Segmentation -- 3.1 Grabcut Segmentation -- 3.2 Temporal Coherence and Real-Time Issues -- 4 Segmented and Sampled Point Cloud -- 5 Rigid Registration -- 6 Point Cloud Matching for Non-rigid Registration -- 6.1 Nearest Neighbor Correspondences -- 6.2 Computation of External Forces -- 6.3 Weighting Forces Using Contours -- 7 Solver -- 7.1 Experimental Results -- 7.2 Results for Tracking on Synthetic Data -- 7.3 Results on Real Data -- 8 Fractures -- 8.1 A Pure Physics-Based Approach -- 8.2 Experimental Results -- 8.3 Comments on the Results -- 9 Multiple Objects -- 9.1 Preliminary Parallel Visual Segmentation -- 9.2 Parallel Rigid Pose Estimation -- 9.3 Parallel Point Cloud Matching for Non-rigid Registration -- 9.4 Resolution -- 9.5 Experimental Results -- 9.6 Comments on the Results -- 10 Application to Robotic Manipulation.
10.1 Trajectory Planning and Control -- 10.2 Experimental Set-Up -- 10.3 Comments on the Results -- 11 Application to Elasticity Parameter Estimation and Contact Force Estimation -- 11.1 Related Work -- 11.2 Elasticity Parameter Estimation -- 11.3 Contact Force Estimation -- 11.4 Experimental Results -- 11.5 Comments on the Results -- 12 Discussion and Conclusion -- References -- Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling -- 1 Brief Introduction -- 2 Theoretical Background about Navier-Stokes's Theorem and SPH -- 2.1 Navier-Stokes' Theorem for Continuous Materials -- 2.2 SPH Formulation -- 3 Viscosity Property and Various Viscosity Methods for SPH -- 4 Other Components for the SPH-based Modelling -- 4.1 Kernel Functions -- 4.2 Incompressible Fluid -- 5 Simulations -- 5.1 Accuracy and Time Analysis -- 5.2 Couette Flow Experiment -- 5.3 Poiseuille Plane Flow Experiment -- 5.4 Comparison with Conventional Viscosity Methods -- 5.5 Additional Simulations -- 6 Discussion and Conclusion -- References -- Perception and Motion Planning for Unknotting/untangling of Ropes of Finite Thickness -- 1 Brief Introduction -- 2 Problem Statement -- 3 Preliminaries and Associated State-of-the-art -- 3.1 Rope Models -- 4 Proposed Algorithm -- 4.1 Rope Model -- 4.2 Self-collision Avoidance Model -- 5 Motion Planner -- 6 Discussion and Conclusion -- References -- Nonprehensile Manipulation Planning and Control -- Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive -- 1 Brief Introduction -- 2 State of the Art -- 3 Pizza-Peel Manipulation Task -- 3.1 Dynamic Model -- 3.2 Controller Design and Stability Analysis -- 3.3 Numerical Simulation -- 4 Discussion and Conclusion -- References -- Holonomic Rolling Nonprehensile Manipulation Primitive -- 1 Brief Introduction. 2 Dynamic Model of Nonprehensile Holonomic Rolling Manipulation Systems -- 3 Input-State Feedback Linearisation -- 3.1 Hypotheses on the Shapes and Input-State Linearisation -- 3.2 Case Studies -- 4 Passivity-Based Approach -- 4.1 Background on Passivity-Based Control -- 4.2 Control Design for Nonprehensile Systems -- 4.3 Case Studies -- 5 Discussion and Conclusion -- References -- Nonholonomic Rolling Nonprehensile Manipulation Primitive -- 1 Brief Introduction -- 2 The Hula-Hoop Problem -- 2.1 Contact Kinematics -- 2.2 Dynamic Model -- 2.3 Controller Design and Stability Analysis -- 2.4 Numerical Simulation -- 3 Ballbot -- 3.1 Lagrangian Dynamics of the Ballbot -- 3.2 Passivity Based Control Design -- 3.3 Numerical Examples -- 4 Discussion and Conclusion -- References -- A Coordinate-Free Framework for Robotic Pizza Tossing and Catching -- 1 Introduction -- 2 Grasp Constraints -- 3 Kinematics -- 4 Dynamics -- 4.1 Variable Inertia Rigid Body Orientation Dynamics -- 4.2 Rigid Body Translational Dynamics -- 4.3 RoDyMan Arm Manipulator Dynamics -- 4.4 Object and Manipulator Combined Dynamics -- 5 Trajectory Generation -- 5.1 Theory -- 5.2 Generating Hand Frame Trajectories -- 6 Control Law -- 6.1 Tossing -- 6.2 Catching -- 7 Simulation -- 8 Discussion and Conclusion -- References -- Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin -- 1 Brief Introduction -- 2 Related Research -- 3 Framework for a Pizza Dough Stretching Behaviour -- 4 Pizza Dough Recognition -- 4.1 Image Processing for Sensor Data -- 4.2 Description for a Status of a Pizza Dough -- 5 Construction of a Planner for Pizza Dough Stretching -- 5.1 Cost Value Function -- 5.2 Actions for a Deformable Object -- 5.3 Transition Originated from an Action -- 5.4 LUT Method -- 6 Path Generation for a Rolling Pin -- 7 Inverse Kinematics for the RoDyMan Robot -- 8 Simulations. 8.1 Modelling of a Deformable Object -- 8.2 Pizza Dough Transition Look-up-table -- 9 Discussion and Conclusion -- References. |
| Record Nr. | UNINA-9910551836403321 |
| Cham, Switzerland : , : Springer, , [2022] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Vision based identification and force control of industrial robots / / Abdullah Aamir Hayat (and six others)
| Vision based identification and force control of industrial robots / / Abdullah Aamir Hayat (and six others) |
| Pubbl/distr/stampa | Singapore : , : Springer Nature Singapore Pte Ltd., , [2022] |
| Descrizione fisica | 1 online resource (212 pages) : illustrations (some color) |
| Disciplina | 629.892637 |
| Collana | Studies in systems, decision and control |
| Soggetto topico |
Robots - Dynamics
Robots, Industrial Robot vision |
| ISBN |
981-16-6989-9
981-16-6990-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Introduction Vision System and Calibration Uncertainty and Sensitivity Analysis Identication Force Control and Assembly Integrated Assembly and Performance Evaluation Conclusion Vision and Uncertainty Analysis Robot Jacobian Code Snippets and Experimental Videos |
| Record Nr. | UNINA-9910743336903321 |
| Singapore : , : Springer Nature Singapore Pte Ltd., , [2022] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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