Control and Dynamic Systems V39: Advances in Robotic Systems Part 1 of 2 - 1st Edition - ISBN: 9780120127399, 9780323163033

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

1st Edition

Advances in Theory and Applications

Editors: C.T. Leonides
eBook ISBN: 9780323163033
Imprint: Academic Press
Published Date: 28th March 1991
Page Count: 484
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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

Details

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

About the Editor

C.T. Leonides