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" New developments and advances in robot control / "
Nabil Derbel, Jawhar Ghommam, Quanmin Zhu, editors.
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BL
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| Record Number
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890130
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| Title & Author
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New developments and advances in robot control /\ Nabil Derbel, Jawhar Ghommam, Quanmin Zhu, editors.
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| Publication Statement
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Singapore :: Springer,, [2019]
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| Series Statement
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Studies in systems, decision and control ;; volume 175
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| Page. NO
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1 online resource (viii, 359 pages) :: illustrations
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| ISBN
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9789811322129
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: 9789811322136
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: 9811322120
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: 9811322139
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9789811322112
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9811322112
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| Contents
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Intro; Preface; Contents; 1 Cloud Robotic: Opening a New Road to the Industry 4.0; 1.1 Introduction; 1.2 Literature Review; 1.3 From Cloud Computing to Cloud Robotics; 1.3.1 Cloud Computing; 1.3.1.1 Cloud Computing Deployment Models; 1.3.1.2 Cloud Computing Service Categories; 1.3.1.3 Cloud Architecture; 1.3.1.4 Service Level Agreement; 1.3.2 Cloud Robotics; 1.3.2.1 Definition; 1.3.2.2 Robots Classification; 1.3.2.3 Benefits and Risks; 1.3.3 Applications by Domain; 1.3.4 Case Study Example; 1.4 Cloud Robotics and Industry 4.0; 1.4.1 Industry 4.0; 1.4.2 Robot in Industry 4.0
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1.4.3 Expectations Regarding Industry 4.01.5 Conclusion; References; 2 42D Visual Servoing Approach for Advanced RobotApplications; 2.1 Introduction; 2.2 Related Work and Motivation; 2.3 Concept of 42D Visual Servoing Approach; 2.4 Transformations in 42D Visual Servoing Approach; 2.4.1 Relative Position Between Visible Side and Camera Coordinate Systems; 2.5 Relative Orientation Between Visible Side and Camera Coordinate Systems; 2.5.1 Object's Orientation in Image Plane; 2.5.2 Object's Orientation in the 3D Image Space; 2.6 Control Error of 42D Visual Servoing Approach; 2.7 Conclusions
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3.3.2.2 Adopted Solutions3.3.2.3 Anti-windup Strategy; 3.3.3 Proposed Control Solution for ARROW PKM; 3.4 Motion Generation; 3.4.1 Spline Description; 3.4.2 Spline Re-sampling During Constant Velocity Phase; 3.4.3 Acceleration and Deceleration Phases; 3.5 Real-Time Experiments; 3.5.1 Experimental Testbed of the ARROW Robot; 3.5.2 Experimental Results; 3.6 Conclusions and Future Work; References; 4 Cable-Driven Parallel Robot Modelling for Rehabilitation Use; 4.1 Introduction; 4.2 Modeling Robot; 4.2.1 First Configuration; 4.2.2 Second Configuration; 4.3 Human Lower Limb Considerations
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4.3.1 Modeling Hypothesis4.3.2 Anthropometric Parameters; 4.3.3 Range of Motion; 4.3.4 Comfort Zone; 4.4 Kinematic Analysis of CDRR; 4.4.1 Forward Kinematic Analysis; 4.4.2 Feasible Workspace; 4.4.3 Proposed Optimization Approach; 4.4.3.1 Problem Formulation; 4.4.3.2 Design Variables; 4.4.3.3 Constraints; 4.4.3.4 Cost Function; 4.4.3.5 Constrained Optimization Model; 4.4.4 Proposed Optimal Solution; 4.4.5 Trajectory Generation; 4.5 Simulation Results and Discussion; 4.6 Conclusion; References; 5 Control of Robot Manipulators Using Modified Backstepping Sliding Mode; 5.1 Introduction
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| Abstract
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This book highlights relevant studies and applications in the area of robotics, which reflect the latest research, from interdisciplinary theoretical studies and computational algorithm development, to representative applications. It presents chapters on advanced control, such as fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis and fault tolerant control etc. and addresses topics including cloud robotics, cable-driven robots, two-wheeled robots, mobile robots, swarm robots, hybrid vehicle, and drones. Each chapter employs a uniform structure: background, motivation, quantitative development (equations), case studies/illustration/tutorial (simulations, experiences, curves, tables, etc.), allowing readers to easily tailor the techniques to their own applications.
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| Subject
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Robots-- Control systems.
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| Subject
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Robots-- Control systems.
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| Subject
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TECHNOLOGY ENGINEERING-- Engineering (General)
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| Dewey Classification
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629.892
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| LC Classification
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TJ211.35
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| Added Entry
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Derbel, Nabil
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Ghommam, Jawhar
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Zhu, Quanmin
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