Fundamentals of Robotic Mechanical Systems

Author: Jorge Angeles
Publisher: Springer Science & Business Media
ISBN: 3319018515
Format: PDF, ePub, Mobi
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The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.

Optimal Trajectory Tracking of Nonlinear Dynamical Systems

Author: Jakob Lober
Publisher: Springer
ISBN: 3319465740
Format: PDF, ePub
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By establishing an alternative foundation of control theory, this thesis represents a significant advance in the theory of control systems, of interest to a broad range of scientists and engineers. While common control strategies for dynamical systems center on the system state as the object to be controlled, the approach developed here focuses on the state trajectory. The concept of precisely realizable trajectories identifies those trajectories that can be accurately achieved by applying appropriate control signals. The resulting simple expressions for the control signal lend themselves to immediate application in science and technology. The approach permits the generalization of many well-known results from the control theory of linear systems, e.g. the Kalman rank condition to nonlinear systems. The relationship between controllability, optimal control and trajectory tracking are clarified. Furthermore, the existence of linear structures underlying nonlinear optimal control is revealed, enabling the derivation of exact analytical solutions to an entire class of nonlinear optimal trajectory tracking problems. The clear and self-contained presentation focuses on a general and mathematically rigorous analysis of controlled dynamical systems. The concepts developed are visualized with the help of particular dynamical systems motivated by physics and chemistry.

Parallel Robotic Machine Tools

Author: Dan Zhang
Publisher: Springer Science & Business Media
ISBN: 9781441911179
Format: PDF, ePub
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Research and development of various parallel mechanism applications in engineering are now being performed more and more actively in every industrial field. Parallel robot based machine tools development is considered a key technology of robot applications in manufacturing industries. The material covered here describes the basic theory, approaches, and algorithms in the field of parallel robot based machine tools. In addition families of new alternative mechanical architectures which can be used for machine tools with parallel architecture are introduced. Given equal importance is the design of mechanism systems such as kinematic analysis, stiffness analysis, kinetostatic modeling, and optimization.

Theory of Applied Robotics

Author: Reza N. Jazar
Publisher: Springer Science & Business Media
ISBN: 1441917500
Format: PDF
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The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.

Applied Plasticity Second Edition

Author: Jagabandhu Chakrabarty
Publisher: Springer Science & Business Media
ISBN: 0387776745
Format: PDF, Docs
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This book begins with the fundamentals of the mathematical theory of plasticity. The discussion then turns to the theory of plastic stress and its applications to structural analysis. It concludes with a wide range of topics in dynamic plasticity including wave propagation, armor penetration, and structural impact in the plastic range. In view of the rapidly growing interest in computational methods, an appendix presents the fundamentals of a finite-element analysis of metal-forming problems.

Parallel Robots

Author: J.P. Merlet
Publisher: Springer Science & Business Media
ISBN: 9781402003851
Format: PDF, ePub
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Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Fundamentals of Robotics Engineering

Author: Harry H. Poole
Publisher: Springer Science & Business Media
ISBN: 9401170509
Format: PDF, ePub
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Robotics engineering has progressed from an infant industry in 1961 to one including over 500 robot and allied firms around the world in 1989. During this growth period, many robotics books have been published, so me of which have served as industry standards. Until recently, the design of robotics sys tems has been primarily the responsibility of the mechanical engineer, and their application in factories has been the responsibility of the manufacturing engineer. Few robotics books address the many systems issues facing electron ics engineers or computer programmers. The mid-1980s witnessed a major change in the robotics field. The develop ment of advanced sensor systems (particularly vision), improvements in the intelligence area, and the desire to integrate groups of robots working together in local work cells or in factory-wide systems have greatly increased the partic ipation of electronics engineers and computer programmers. Further, as ro bots ga in mobility, they are being used in completely new areas, such as construction, firefighting, and underwater exploration, and the need for com puters and smart sensors has increased. Fundamentals af Rabaties Engineering is aimed at the practicing electrical engineer or computer analyst who needs to review the fundamentals of engi neering as applied to robotics and to understand the impact on system design caused by constraints unique to robotics. Because there are many good texts covering mechanical engineering topics, this book is limited to an overview of those topics and the effects they have on electrical design and system pro grams.

Advances in Mobile and Wireless Communications

Author: István Frigyes
Publisher: Springer Science & Business Media
ISBN: 3540790411
Format: PDF, Kindle
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Lectori Salutem! This is another book – among the myriads – dealing with wireless communications. The reader might be aware: this topic is really among bestsellers in technology – bestsellers in technology itself and that in technical literature. Communications is one of the leading techniques in information society and mobile/wireless communications is one among the (maybe not more than two with optics the second) leading techniques in communications. Development of wireless communications was and is really spec- cular in the last decade of the 20th and first decade of the 21st century. Such topics as MIMO, wireless networking, security in the technological field, new business models in the service providing field, various applications in the users’ side, to mention a few only, were undergoing an unprecedented evolution. So it is not surprising that the number of conferences and the number of books in this field grows and grows, in a nearly unbounded way.

New Advances in Mechanism and Machine Science

Author: Ioan Doroftei
Publisher: Springer
ISBN: 3319791117
Format: PDF, Mobi
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This volume presents the proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017), that was held in "Gheorghe Asachi” Technical University of Iasi, Romania, November 02-03, 2017. It contains applications of mechanisms in several modern technical fields such as mechatronics and robotics, biomechanics, machines and apparatus. The book presents original high-quality contributions on topics related to mechanisms within aspects of theory, design, practice and applications in engineering, including but not limited to: theoretical kinematics, computational kinematics, mechanism design, experimental mechanics, mechanics of robots, dynamics of machinery, dynamics of multi-body systems, control issues of mechanical systems, mechanisms for biomechanics, novel designs, mechanical transmissions, linkages and manipulators, micro-mechanisms, teaching methods, history of mechanism science, industrial and non-industrial applications. In connection with these fields, the book combines the theoretical results with experimental tests.

Advances in Robot Kinematics

Author: Jadran Lenarčič
Publisher: Springer Science & Business Media
ISBN: 9401706573
Format: PDF, Mobi
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This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.