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 watch over. quite a few his learn is mirrored during this ebook, inclusive of contributions from best specialists within the box, who've additionally been heavily linked to Suguru Arimoto at a variety of levels in his uncommon profession. The ebook is construct round issues: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing appealing, human-like hobbies nonetheless. those topics outlined a lot of Arimoto’s learn within the box of robotic keep an eye on and are the cornerstones of his belief of human robotics. subject matters coated within the ebook handle usual movement and adaptive keep watch over of robotic manipulators, visible servoing, passivity-based and iterative studying keep watch over, synthetic potentials for nonholonomic structures, strength keep an eye on of haptic units and muscle-activated platforms, modeling and research of human-like pursuits in achieving and greedy initiatives. every one bankruptcy is self-contained and treats the topic cohesively and intensive. This quantity will offer a major reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.
Read Online or Download Advances in Robot Control: From Everyday Physics to Human-Like Movements PDF
Similar physics books
The four-week interval fran may well 20 to June sixteen, 1984 was once a thorough interval of complicated research at the foundations and frontiers of nonequili brium statistical physics (NSP). in the course of the first weeks of this era, an advanced-study direction at the "Foundations of NSP" used to be con ducted in Albuquerque lower than the sponsorship of the college of latest Mexico heart for High-Technology fabrics.
This quantity, including its better half volumes, originated in a examine commis sioned by means of the U.S. nationwide Academy of Sciences on behalf of the nationwide Aeronautics and area management. A committee composed of Tom Holzer, Dimitri Mihalas, Roger Ulrich and myself used to be requested to arrange a complete evaluation of present wisdom in regards to the physics of the solar.
This is often a very good textual content with an extended heritage that has been up to date and given a clean glance, together with labored examples pulled out of the textual content into numbered containers. aimed toward proposing the necessities of physics, chemistry, earth technology, and astronomy in a transparent, easy-to-understand manner, The actual Universe indicates scholars how technology works, how scientists process difficulties, and why technology continuously evolves in its look for figuring out.
- Quantum Mechanics: Genesis and Achievements
- Riemann, Topology, and Physics
- Cool Stars, Stellar Systems, and the Sun, 1st Edition
- Methods of experimental physics, - Solid state physics. part A Preparation, structure, mechanical and thermal properties
Additional resources for Advances in Robot Control: From Everyday Physics to Human-Like Movements
First, we refer to the underdetermined linear system (7). t. time, we obtain: J (¯ q )¨ ¯q + J˙ (¯ q )¯q˙ = 0. (16) This equation admits the following solution: + ¨ ¯ q ) − J (¯ ¯q = β n(¯ q )J˙ (¯ q )¯q˙ (17) where β denotes an arbitrary small value, and (◦)+ stands for the pseudoinverse. The representation decomposes the joint acceleration into two orthogonal components. This is evident from the fact that the pseudoinverse component is known to be orthogonal to the null space component. The last equation can be split into two parts, to obtain second diﬀerentials of joint motion and path motion, respectively: and ¨ = βn(¯ q q ) − J T (q)J −1 q )J˙ (¯ q )¯q˙ ∗ (¯ (18) q¨∗ = β det J (q) + tT∗ (q∗ )J −1 q )J˙ (¯ q )¯q˙ , ∗ (¯ (19) where J ∗ (¯ q ) ≡ J (q)J (q) + t∗ (q∗ )tT∗ (q∗ ).
Robot application tasks quite often also require the solution of the so-called inverse problem, in terms of inverse kinematics or inverse dynamics in task coordinates . The formal solution to the problem is not as straightforward as might be expected. For nonredundant structures, the inverse problem has been most often tackled by employing the inverse of the Jacobian matrix. Though, as recognized at an early stage , the ill-conditioning of the inverse problem at and around kinematic singularities can destabilize the controls.
Stability is Dragomir N. 5 2 x [m] Fig. 9. Approaching a stationary point singularity, with constant twist magnitude, joint friction and kinematic closed-loop control. not guaranteed, though, at a stationary point singularity. We performed a simulation of constant twist magnitude motion through a stationary point, similar to that in Fig. 4. The results are shown in Fig. 9. 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).