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Adaptive control for robotic manipulators / / edited by Dan Zhang and Bin Wei
| Adaptive control for robotic manipulators / / edited by Dan Zhang and Bin Wei |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Boca Raton, FL : , : CRC Press, , [2017] |
| Descrizione fisica | 1 online resource (441 pages) : illustrations |
| Disciplina | 629.8/933 |
| Soggetto topico |
Robots - Control systems
Manipulators (Mechanism) Adaptive control systems |
| ISBN |
1-351-67892-2
1-315-16605-4 1-4987-6488-6 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators -- K. Soltani Naveh and -- P. R. McAree -- -- Discussion on Model Reference Adaptive Control of Robotic Manipulators -- -- Dan Zhang and -- Bin Wei -- -- Data-Based Learning for Uncertain Robotic Systems -- -- Anup Parikh, Rushikesh Kamalapurkar and -- Warren E. Dixon -- -- -- Reinforcement Learning of Robotic Manipulators -- -- Kei Senda and -- Yurika Tani -- -- -- Adaptive Control for Multi-Fingered Robot Hands -- -- Satoshi Ueki and -- Haruhisa Kawasaki -- -- -- Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering -- -- Ali Albattat, Benjamin Gruenwald and -- Tansel Yucelen -- -- -- Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations -- -- N. Vignesh, H. M. Guzey and -- S. Jagannathan -- -- -- Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms -- -- Dan Zhang and -- Bin Wei -- -- -- Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations -- -- Anindo Roy, Larry W. Forrester and -- Richard F. Macko -- -- -- Open Architecture High Value Added Robot Manufacturing Cells -- -- Delbert Tesar -- -- -- The Adaptive Control Algorithm for Manipulators with Joint Flexibility -- -- Krzysztof Kozlowski and -- Piotr Sauer -- -- -- Unifi cation of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum -- -- Pilwon Hur, Kenneth Chao and -- Victor Christian Paredes Cauna -- -- -- Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints -- -- P. Krishnamurthy, F. Khorrami and -- Z. Wang -- -- -- Adaptive Switching Iterative Learning Control of Robot Manipulator -- -- P. R. Ouyang and -- W. J. Zhang -- -- -- Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties -- -- Meysar Zeinali and -- Ebrahim Esmailzadeh -- -- -- Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line -- -- D. Duz?anec, S. Glumac, Z. Kovac?ic and -- M. Pavc?evic. |
| Record Nr. | UNINA-9910163881403321 |
| Boca Raton, FL : , : CRC Press, , [2017] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen
| Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen |
| Autore | Liu Shiping <1971-> |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Hoboken, NJ : , : Wiley, , 2019 |
| Descrizione fisica | 1 online resource (255 pages) |
| Disciplina | 629.8/933 |
| Soggetto topico |
Robots - Dynamics
Manipulators (Mechanism) - Automatic control Tribology |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-119-42251-5
1-119-42249-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910466695003321 |
Liu Shiping <1971->
|
||
| Hoboken, NJ : , : Wiley, , 2019 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen
| Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen |
| Autore | Liu Shiping <1971-> |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Hoboken, NJ : , : Wiley, , 2019 |
| Descrizione fisica | 1 online resource (255 pages) |
| Disciplina | 629.8/933 |
| Soggetto topico |
Robots - Dynamics
Manipulators (Mechanism) - Automatic control Tribology |
| ISBN |
1-119-42250-7
1-119-42251-5 1-119-42249-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910533129803321 |
|
Liu Shiping <1971->
|
||
| Hoboken, NJ : , : Wiley, , 2019 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen
| Dynamics and control of robotic manipulators with contact and friction / / Shiping Liu, Gang (Sheng) Chen |
| Autore | Liu Shiping <1971-> |
| Edizione | [First edition.] |
| Pubbl/distr/stampa | Hoboken, NJ : , : Wiley, , 2019 |
| Descrizione fisica | 1 online resource (255 pages) |
| Disciplina | 629.8/933 |
| Soggetto topico |
Robots - Dynamics
Manipulators (Mechanism) - Automatic control Tribology |
| ISBN |
1-119-42250-7
1-119-42251-5 1-119-42249-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910828032003321 |
|
Liu Shiping <1971->
|
||
| Hoboken, NJ : , : Wiley, , 2019 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Microrobotics for micromanipulation [[electronic resource] /] / edited by Nicolas Chaillet, Stéphane Régnier
| Microrobotics for micromanipulation [[electronic resource] /] / edited by Nicolas Chaillet, Stéphane Régnier |
| Pubbl/distr/stampa | London, : ISTE |
| Descrizione fisica | 1 online resource (510 p.) |
| Disciplina |
629.8/933
629.8933 |
| Altri autori (Persone) |
ChailletNicolas
RégnierStéphane |
| Collana | ISTE |
| Soggetto topico |
Microrobots
Manipulators (Mechanism) Microelectromechanical systems |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-118-62281-2
1-299-31568-2 1-118-62245-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | The physics of the microworld / Michaël Gauthier, Pierre Lambert, and Stéphane Régnier -- Actuators for microrobotics / Nicolas Chaillet, Moustapha Hafez, and Pierre Lambert -- Microhandling and micromanipulation strategies / Michaël Gauthier, Pierre Lambert, and Stéphane Régnier -- Architecture of a micromanipulation station / Joël Agnus ... [et al.] -- Microtechnologies and micromanipulation / Lionel Buchaillot -- Future prospects / Philippe Lutz and Stéphane Régnier. |
| Record Nr. | UNINA-9910139239803321 |
| London, : ISTE | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Microrobotics for micromanipulation [[electronic resource] /] / edited by Nicolas Chaillet, Stéphane Régnier
| Microrobotics for micromanipulation [[electronic resource] /] / edited by Nicolas Chaillet, Stéphane Régnier |
| Pubbl/distr/stampa | London, : ISTE |
| Descrizione fisica | 1 online resource (510 p.) |
| Disciplina |
629.8/933
629.8933 |
| Altri autori (Persone) |
ChailletNicolas
RégnierStéphane |
| Collana | ISTE |
| Soggetto topico |
Microrobots
Manipulators (Mechanism) Microelectromechanical systems |
| ISBN |
1-118-62281-2
1-299-31568-2 1-118-62245-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | The physics of the microworld / Michaël Gauthier, Pierre Lambert, and Stéphane Régnier -- Actuators for microrobotics / Nicolas Chaillet, Moustapha Hafez, and Pierre Lambert -- Microhandling and micromanipulation strategies / Michaël Gauthier, Pierre Lambert, and Stéphane Régnier -- Architecture of a micromanipulation station / Joël Agnus ... [et al.] -- Microtechnologies and micromanipulation / Lionel Buchaillot -- Future prospects / Philippe Lutz and Stéphane Régnier. |
| Record Nr. | UNINA-9910830000503321 |
| London, : ISTE | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Microrobotics for micromanipulation / / edited by Nicolas Chaillet, Stephane Regnier
| Microrobotics for micromanipulation / / edited by Nicolas Chaillet, Stephane Regnier |
| Pubbl/distr/stampa | London, : ISTE |
| Descrizione fisica | 1 online resource (510 p.) |
| Disciplina | 629.8/933 |
| Altri autori (Persone) |
ChailletNicolas
RegnierStephane |
| Collana | ISTE |
| Soggetto topico |
Microrobots
Manipulators (Mechanism) Microelectromechanical systems |
| ISBN |
1-118-62281-2
1-299-31568-2 1-118-62245-6 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | The physics of the microworld / Michael Gauthier, Pierre Lambert, and Stephane Regnier -- Actuators for microrobotics / Nicolas Chaillet, Moustapha Hafez, and Pierre Lambert -- Microhandling and micromanipulation strategies / Michael Gauthier, Pierre Lambert, and Stephane Regnier -- Architecture of a micromanipulation station / Joel Agnus ... [et al.] -- Microtechnologies and micromanipulation / Lionel Buchaillot -- Future prospects / Philippe Lutz and Stephane Regnier. |
| Record Nr. | UNINA-9910877873403321 |
| London, : ISTE | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil
| Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
| Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
| Descrizione fisica | 1 online resource (414 p.) |
| Disciplina |
629.8/933
629.892 629.8933 |
| Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
| Collana | Control systems, robotics and manufacturing series |
| Soggetto topico |
Robotics
Manipulators (Mechanism) |
| ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
| Record Nr. | UNISA-996217138503316 |
| London ; ; Newport Beach, CA, : ISTE, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. di Salerno | ||
| ||
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil
| Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
| Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
| Descrizione fisica | 1 online resource (414 p.) |
| Disciplina |
629.8/933
629.892 629.8933 |
| Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
| Collana | Control systems, robotics and manufacturing series |
| Soggetto topico |
Robotics
Manipulators (Mechanism) |
| ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
| Record Nr. | UNINA-9910143312303321 |
| London ; ; Newport Beach, CA, : ISTE, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil
| Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
| Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
| Descrizione fisica | 1 online resource (414 p.) |
| Disciplina |
629.8/933
629.892 629.8933 |
| Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
| Collana | Control systems, robotics and manufacturing series |
| Soggetto topico |
Robotics
Manipulators (Mechanism) |
| ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
| Record Nr. | UNINA-9910830053603321 |
| London ; ; Newport Beach, CA, : ISTE, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
