Robot Modeling and Control | Kinematics | RobotAppendix A Geometry and Trigonometry A. Appendix B Linear Algebra B. Appendix C Lyapunov Stability C. R obotics is a relatively young field of modern technology that crosses tra- ditional engineering boundaries. Understanding the complexity of robots and their applications requires knowledge of electrical engineering, mechanical engi- neering, systems and industrial engineering, computer science, economics, and mathematics. New disciplines of engineering, such as manufacturing engineer- ing, applications engineering, and knowledge engineering have emerged to deal with the complexity of the field of robotics and factory automation.
Soft Robot Modeling and Control Using Koopman Operator Theory
Robot Modeling and Control
It seems that you're in Germany. We have a dedicated site for Germany. Authors: Siciliano , B. The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations.
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and briefly describe the implementation for a real world application. Unable to display preview. Download preview PDF.