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Adaptive control of robot manipulators [[electronic resource] ] : a unified regressor-free approach / / An-Chyau Huang, Ming-Chih Chien
| Adaptive control of robot manipulators [[electronic resource] ] : a unified regressor-free approach / / An-Chyau Huang, Ming-Chih Chien |
| Autore | Huang An-Chyau |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific Pub., c2010 |
| Descrizione fisica | 1 online resource (276 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) | ChienMing-Chih |
| Soggetto topico |
Robots - Control systems - Design and construction
Robots - Motion - Mathematical models Robots, Industrial - Design and construction |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-282-76380-6
9786612763809 981-4307-42-4 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Preface; Contents; 1 Introduction; 2 Preliminaries; 3 Dynamic Equations for Robot Manipulators; 4 Adaptive Control of Rigid Robots; 5 Adaptive Impedance Control of Rigid Robots; 6 Adaptive Control of Flexible Joint Robots; 7 Adaptive Impedance Control of Flexible Joint Robots; Appendix; References; Symbols, Definitions and Abbreviations; Index |
| Record Nr. | UNINA-9910456127903321 |
Huang An-Chyau
|
||
| Singapore ; ; Hackensack, N.J., : World Scientific Pub., c2010 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Adaptive control of robot manipulators [[electronic resource] ] : a unified regressor-free approach / / An-Chyau Huang, Ming-Chih Chien
| Adaptive control of robot manipulators [[electronic resource] ] : a unified regressor-free approach / / An-Chyau Huang, Ming-Chih Chien |
| Autore | Huang An-Chyau |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific Pub., c2010 |
| Descrizione fisica | 1 online resource (276 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) | ChienMing-Chih |
| Soggetto topico |
Robots - Control systems - Design and construction
Robots - Motion - Mathematical models Robots, Industrial - Design and construction |
| ISBN |
1-282-76380-6
9786612763809 981-4307-42-4 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Preface; Contents; 1 Introduction; 2 Preliminaries; 3 Dynamic Equations for Robot Manipulators; 4 Adaptive Control of Rigid Robots; 5 Adaptive Impedance Control of Rigid Robots; 6 Adaptive Control of Flexible Joint Robots; 7 Adaptive Impedance Control of Flexible Joint Robots; Appendix; References; Symbols, Definitions and Abbreviations; Index |
| Record Nr. | UNINA-9910780881303321 |
|
Huang An-Chyau
|
||
| Singapore ; ; Hackensack, N.J., : World Scientific Pub., c2010 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Fundamentals of robotic grasping and fixturing [[electronic resource] /] / Caihua Xiong, Han Ding, Youlun Xiong
| Fundamentals of robotic grasping and fixturing [[electronic resource] /] / Caihua Xiong, Han Ding, Youlun Xiong |
| Autore | Xiong Caihua |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, NJ, : World Scientific, c2007 |
| Descrizione fisica | 1 online resource (228 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) |
DingHan <1963->
XiongYou-Lun |
| Collana | Series on manufacturing systems and technology |
| Soggetto topico |
Robots - Motion - Mathematical models
Robot hands - Design and construction |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-281-91182-8
9786611911829 981-277-184-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; Preface; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands ; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria
2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints 9.5.2 Planning Methods |
| Record Nr. | UNINA-9910450902603321 |
|
Xiong Caihua
|
||
| Singapore ; ; Hackensack, NJ, : World Scientific, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Fundamentals of robotic grasping and fixturing [[electronic resource] /] / Caihua Xiong, Han Ding, Youlun Xiong
| Fundamentals of robotic grasping and fixturing [[electronic resource] /] / Caihua Xiong, Han Ding, Youlun Xiong |
| Autore | Xiong Caihua |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, NJ, : World Scientific, c2007 |
| Descrizione fisica | 1 online resource (228 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) |
DingHan <1963->
XiongYou-Lun |
| Collana | Series on manufacturing systems and technology |
| Soggetto topico |
Robots - Motion - Mathematical models
Robot hands - Design and construction |
| ISBN |
1-281-91182-8
9786611911829 981-277-184-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; Preface; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands ; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria
2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints 9.5.2 Planning Methods |
| Record Nr. | UNINA-9910785098603321 |
|
Xiong Caihua
|
||
| Singapore ; ; Hackensack, NJ, : World Scientific, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Fundamentals of robotic grasping and fixturing / / Caihua Xiong, Han Ding, Youlun Xiong
| Fundamentals of robotic grasping and fixturing / / Caihua Xiong, Han Ding, Youlun Xiong |
| Autore | Xiong Caihua |
| Edizione | [1st ed.] |
| Pubbl/distr/stampa | Singapore ; ; Hackensack, NJ, : World Scientific, c2007 |
| Descrizione fisica | 1 online resource (228 p.) |
| Disciplina | 629.892 |
| Altri autori (Persone) |
DingHan <1963->
XiongYou-Lun |
| Collana | Series on manufacturing systems and technology |
| Soggetto topico |
Robots - Motion - Mathematical models
Robot hands - Design and construction |
| ISBN |
1-281-91182-8
9786611911829 981-277-184-0 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Contents; Preface; Chapter 1 Robotic Grasp and Workpiece-Fixture Systems; 1.1 Introduction; 1.2 Robotic Manipulation and Multifingered Robotic Hands ; 1.3 AMT and Fixtures; 1.4 Comparison between Grasping and Fixturing; 1.5 Bibliography; Chapter 2 Qualitative Analysis and Quantitative Evaluation of Form-Closure Grasping/Fixturing; 2.1 Introduction; 2.2 Qualitative Analysis; 2.2.1 Kinematic Characteristics of Grasping/Fixturing; 2.2.2 Discriminances of Form-Closure Grasping/Fixturing; 2.2.3 Minimum Number of Contacts with Frictionless; 2.3 Quantitative Evaluation; 2.3.1 Evaluation Criteria
2.3.2 Numerical Example2.4 Summary; 2.5 Bibliography; Chapter 3 Stability Index and Contact Configuration Planning of Force-Closure Grasping/Fixturing; 3.1 Introduction; 3.2 Description of Contacts with Friction; 3.3 Conditions of Force Closure Grasp; 3.4 Grasp Stability Index; 3.4.1 Definition of the Grasp Stability Index; 3.4.2 Some Properties of the Index; 3.4.3 Contact Configuration Planning; 3.5 Examples; 3.6 Summary; 3.7 Bibliography; Chapter 4 Active Grasp Force Planning; 4.1 Introduction; 4.2 Nonlinear Programming in Grasp; 4.3 Force Planning Using Neural Networks; 4.4 Simulation 4.5 Summary4.6 Bibliography; Chapter 5 Grasp Capability Analysis; 5.1 Introduction; 5.2 Evaluation of Multifingered Grasp Capability; 5.3 Numerical Example; 5.4 Summary; 5.5 Bibliography; Chapter 6 Compliant Grasping with Passive Forces; 6.1 Introduction; 6.2 The Model of Compliant Grasping/Fixturing; 6.3 Local Elastic Contact Model; 6.4 Deformation Compatible Constraints for All Contacts; 6.5 Stability of Grasping/Fixturing Systems; 6.6 Passive Force Closure Prediction; 6.7 Numerical Example; 6.8 Summary; 6.9 Bibliography; Chapter 7 Kinematics of Contacts and Rolling Manipulation 7.1 Introduction7.2 Kinematics of Pure Rolling Contact; 7.3 Kinematics of Manipulation with Rolling Contact; 7.4 Coordinating Manipulation of Multifingered Robotic Hands; 7.4.1 Classification of Grasp Phases; 7.4.2 Coordinating Manipulation Strategy; 7.5 Adjustment of Fingertip Contact Forces; 7.6 Experimental Results; 7.7 Summary; 7.8 Bibliography; Chapter 8 Dynamic Stability of Grasping/Fixturing; 8.1 Introduction; 8.2 Dynamic Equations of Motion for a Grasped/Fixtured Object; 8.3 Dynamic Stability Conditions and Quality Measure; 8.4 Summary; 8.5 Bibliography Chapter 9 Locating Error Analysis and Configuration Planning of Fixtures9.1 Introduction; 9.2 Error Mapping Model; 9.2.1 Fully Constrained Localization; 9.2.2 Over Constrained Localization; 9.2.3 Under Constrained Localization; 9.3 Locator and Clamp Configuration Characteristics; 9.3.1 Locator Configuration Characteristics; 9.3.2 Clamp Configuration Characteristics; 9.4 Evaluation Indexes of Fixturing; 9.4.1 Evaluation Index of Locator Configurations; 9.4.2 Stability Index of Fixturing; 9.4.3 Fixturing Resultant Index; 9.5 Configuration Planning of Fixturing; 9.5.1 Constraints 9.5.2 Planning Methods |
| Record Nr. | UNINA-9910972859303321 |
|
Xiong Caihua
|
||
| Singapore ; ; Hackensack, NJ, : World Scientific, c2007 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Modeling, simulation and optimization of bipedal walking / / Katja Mombaur and Karsten Berns (eds.)
| Modeling, simulation and optimization of bipedal walking / / Katja Mombaur and Karsten Berns (eds.) |
| Edizione | [1st ed. 2013.] |
| Pubbl/distr/stampa | Berlin ; ; Heidelberg, : Springer, c2013 |
| Descrizione fisica | 1 online resource (viii, 290 pages) : illustrations (some color) |
| Disciplina |
629.8
629.8/932 |
| Altri autori (Persone) |
MombaurKatja
BernsKarsten |
| Collana | Cognitive systems monographs |
| Soggetto topico |
Robots - Motion - Mathematical models
Robots - Motion - Simulation methods Bipedalism - Mathematical models Bipedalism - Simulation methods |
| ISBN | 3-642-36368-7 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | From the Contents: Trajectory-Based Dynamic Programming -- Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0 -- Modeling and Optimization of Human Walking -- Online CPG-based gait monitoring and optimal control of the ankle joint for assisted walking in hemiplegic subjects -- The combined role of motion-related cues and upper body posture for the expression of emotions during human walking. |
| Record Nr. | UNINA-9910739469503321 |
| Berlin ; ; Heidelberg, : Springer, c2013 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Stability of robotic path tracking . Part I one-dimensional scalar models [[electronic resource] /] / Michael Grinfeld and Scott Schoenfeld
| Stability of robotic path tracking . Part I one-dimensional scalar models [[electronic resource] /] / Michael Grinfeld and Scott Schoenfeld |
| Autore | Grinfelʹd M. A |
| Pubbl/distr/stampa | Aberdeen Proving Ground, MD : , : Army Research Laboratory, , [2005] |
| Descrizione fisica | 1 online resource (iv, 26 pages) : color illustrations |
| Altri autori (Persone) | SchoenfeldScott |
| Collana | ARL-TR |
| Soggetto topico |
Military robots - Mathematical models
Robots - Motion - Mathematical models |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910697006903321 |
|
Grinfelʹd M. A
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| Aberdeen Proving Ground, MD : , : Army Research Laboratory, , [2005] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||