By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)
ISBN-10: 3540373462
ISBN-13: 9783540373469
ISBN-10: 3540373470
ISBN-13: 9783540373476
This quantity presents a special number of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic regulate. quite a few his examine is mirrored during this e-book, consisting of contributions from top specialists within the box, who've additionally been heavily linked to Suguru Arimoto at quite a few phases in his distinct profession. The ebook is construct round topics: the physics-based robotic keep watch over for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing appealing, human-like pursuits nevertheless. those subject matters outlined a lot of Arimoto’s study within the box of robotic regulate and are the cornerstones of his conception of human robotics. subject matters coated within the ebook deal with traditional movement and adaptive keep an eye on of robotic manipulators, visible servoing, passivity-based and iterative studying regulate, synthetic potentials for nonholonomic structures, strength regulate of haptic units and muscle-activated platforms, modeling and research of human-like hobbies in attaining and greedy initiatives. each one bankruptcy is self-contained and treats the topic cohesively and extensive. This quantity will supply a tremendous reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.
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Additional info for Advances in Robot Control: From Everyday Physics to Human-Like Movements
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Corollary 3 In the vicinity of stationary points, natural motion decays exponentially. Proof: Follows from the solution type of the autonomous dynamical system. 4 Vector-Parameterization of Configuration Space ¯ q ) onto n-dimensional We are interested in the projection of vector field n(¯ C space. The projection, n(¯ q ) = [adjJ (q)] t∗ (q∗ ), can be interpreted as a parameterized vector field, t∗ (q∗ ) playing the role of an n-parameter. Consequently, Eq. (11) can be regarded as a parameterized autonomous dynamical system [32].
This paper presents the recent advances in control theory of robots with uncertain kinematics and dynamics. Several approximate Jacobian controllers, that do not require exact knowledge of either kinematics or dynamics of robots, are presented. The control problems are formulated based on Lyapunov analysis. By using sensory feedback of the robot end effector position, it is shown that the end effector is able to follow a desired motion with uncertainties in kinematics and dynamics. This gives the robot a high degree of flexibility in dealing with unforseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation.
14. 7 s (stage 1 in the lower right figure). ). 9 Conclusions Until recently, not much attention has been paid to the useful role of kinematically singular configurations in motion tasks. The ill-conditioning of the inverse problem around such configurations has been tackled mostly within linear model frameworks. It has been shown here that a non-linear, differentialgeometric approach to kinematic inversion can lead to improved models. 5 time [s] Fig. 12. Motion through a stationary point, with constant twist magnitude, gravity disturbance and dynamic closed-loop control with filter.
Advances in Robot Control: From Everyday Physics to Human-Like Movements by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)
by Edward
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