Control and Dynamic Systems V39: Advances in Robotic Systems Part 1 of 2

Control and Dynamic Systems V39: Advances in Robotic Systems Part 1 of 2

Advances in Theory and Applications

1st Edition - March 28, 1991

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  • Editor: C.T. Leonides
  • eBook ISBN: 9780323163033

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Description

Advances in Robotic Systems, Part 1 shows how the activity in robotic systems has increased significantly over the past decade. Major centers of research and development in robotic systems were established on the international scene, and these became focal points for the brilliant research efforts of many academicians and industrial professionals. The systems aspects of robotics, in general, and of robot control, in particular, are manifested through a number of technical facts. This book comprises 10 chapters, with the first focusing on applications of neural networks to robotics. The following chapters then discuss a unified approach to kinematic modeling, identification and compensation for robot calibration; nonlinear control algorithms in robotic systems; and kinematic and dynamic task space motion planning for robot control. Other chapters cover discrete kinematic modeling techniques in Cartesian space for robotic system; force distribution algorithms for multifingered grippers; frequency analysis for a discrete-time robot system; minimum cost trajectory planning for industrial robots; tactile sensing techniques in robotic systems; and sensor data fusion in robotic systems. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.

Table of Contents


  • Contributors

    Preface

    Applications of Neural Networks to Robotics

    A Unified Approach to Kinematic Modeling, Identification and Compensation for Robot Calibration

    Nonlinear Control Algorithms in Robotic Systems

    Kinematic and Dynamic Task Space Motion Planning for Robot Control

    Discrete Kinematic Modeling Techniques in Cartesian Space for Robotic System

    Force Distribution Algorithms for Multifingered Grippers

    Frequency Analysis for a Discrete-Time Robot System

    Minimum Cost Trajectory Planning for Industrial Robots

    Tactile Sensing Techniques in Robotic Systems

    Sensor Data Fusion in Robotic Systems

    Index

Product details

  • No. of pages: 484
  • Language: English
  • Copyright: © Academic Press 1991
  • Published: March 28, 1991
  • Imprint: Academic Press
  • eBook ISBN: 9780323163033

About the Editor

C.T. Leonides

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