Advances in Robot Control: From Everyday Physics to by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail

By Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)

This quantity presents a distinct selection of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been well-known as a pioneer within the box of robotic keep an eye on. numerous his examine is mirrored during this e-book, along with contributions from best specialists within the box, who've additionally been heavily linked to Suguru Arimoto at a variety of levels in his extraordinary profession. The booklet is construct round issues: 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 however. those subject matters outlined a lot of Arimoto’s study within the box of robotic keep watch over and are the cornerstones of his belief of human robotics. issues coated within the ebook deal with typical movement and adaptive regulate of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, synthetic potentials for nonholonomic platforms, strength keep watch over of haptic units and muscle-activated platforms, modeling and research of human-like activities in attaining and greedy projects. every one bankruptcy is self-contained and treats the topic cohesively and extensive. This quantity will supply an enormous reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.

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Shamir T (1990) The singularities of redundant robot arms. The International Journal of Robotics Research 9(1):113–121 29. Bedrossian N, Flueckiger K (1991) Characterizing spatial redundant manipulator singularities. In: Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, California 714–719 30. Singh S (1993) Motion planning and control of non-redundant manipulators at singularities. In: Proc. IEEE Int. Conf. on Robotics and Automation, Atlanta, Georgia 487–492 31. Burdick J (1991) A classification of 3R regional manipulator singularities and geometries.

Such singularities have been named “ordinary singularities” by Kieffer [15]. 14 Dragomir N. Nenchev of, or even at such kinematic singularities. These singularities will be referred to as regular point singularities. Henceforth, the subdomain of regular points will be referred to as the domain of complete integrability. The self-motion manifold can then be characterized by the invariant arc lenght λ, called also natural parameter. λ is determined uniquely up to an additive constant, via: ¯ . λ˙ = n (14) λ˙ will be referred to as the natural speed along the self-motion manifold.

It is apparent that when the end-tip passes close by the singularity, an abrupt, inadmissible jump in the velocity occurs. 2 Singularity-Consistent Dynamic Controller Dynamic controller design is based on the singularity consistent parameterization of the equation of motion (23). The structure of the proposed controller, though, has not to be a completely new one. We will make use of the controller structure proposed by Slotine and Li [38] which was found to be suitable for velocity vector field tracking.

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