Robot kinematics and motion planning / Wayne Adams, editor.

Format:

Book

Contributor:

Adams, Wayne, 1970- editor.

Series:

Robotics research and technology.

Robotics Research and Technology

Language:

English

Subjects (All):

Robots--Kinematics.

Robots.

Robots--Control systems.

Physical Description:

1 online resource (217 p.)

Place of Publication:

New York : Nova Publishers, 2015.

Language Note:

English

Summary:

The authors' of this book focus on the latest developments in robot kinematics and motion planning. The first chapter seeks to identify the governing rules implemented in the central nervous system (CNS) to solve redundant mapping problems from an experimental observation approach. The novelty of this chapter is in the obtained motion planning results for a constraint elbow joint during reaching movements. The second chapter focuses on the problems that exist in the two-norm and infinity-norm and solutions to these problems involving bi-criteria (BC) motion planning schemes of different joint-level vectors. In the third chapter, trajectory generation methods for the application of thermal spraying processes are introduced. In the fourth chapter, an investigation on the robot kinematics is proposed to find the rules of motion in an application case. The results demonstrate the motion behavior of each axis in the robot that consequently permits the identification of the motion problems in the trajectory. In the fifth chapter, kinematic properties of a new planar parallel manipulator is investigated by means of the theory of screws.

Contents:

ROBOT KINEMATICS AND MOTION PLANNING; ROBOT KINEMATICS AND MOTION PLANNING; Library of Congress Cataloging-in-Publication Data; CONTENTS ; PREFACE ; Chapter 1 EXPERIMENTAL OBSERVATIONS ON HUMAN REACHING MOTION PLANNING WITH AND WITHOUT A REDUCED MOBILITY; Abstract; Introduction ; Background Knowledge on Motor Neuroscience ; In which Representation the Motion Is Characterized? ; In which Coordinate System the Motion Kinematics is Defined in the CNS? ; Human Sensorimotor System from the Control Engineering Viewpoint ; Literature Survey ; Descriptive Models ; Minimum Principles

Statistical Data Fitting Models Human Arm Model ; Human Arm Kinematics ; Two Coordinate Systems for the Motion Interpretation ; Human Arm Dynamics ; Mapping between Two Coordinate Systems ; Experimental Setup and Procedure ; Experimental Observations ; Constraint Workspace Validation ; Observations on the Hand Path Geometry Formulation ; Observations on the Temporal Control Strategy ; Redundant Inverse Kinematics: Arm Posture Selection ; Conclusion ; Acknowledgment ; References ; Chapter 2 BI-CRITERIA MOTION PLANNING OF ROBOT MANIPULATORS BASED ON QP FORMULATIONS AND NEURONET SOLVERS

Abstract1.Introduction; 2.ProblemandSchemeFormulations; 2.1.BCVelocityMinimizationScheme1(BCVMS1); 2.1.1.ConversionofBoundConstraints; 2.1.2.ConversionofPerformanceIndex; 2.1.3.QPReformulation; 2.2.BCVelocityMinimizationScheme2(BCVMS2); 2.2.1.ConversionofPerformanceIndex; 2.2.2.QPReformulation; 2.3.BCAccelerationMinimizationScheme1(BCAMS1); 2.3.1.ConversionofBoundConstraints; 2.3.2.ConversionofPerformanceIndex; 2.3.3.QPReformulation; 2.4.BCAccelerationMinimizationScheme2(BCAMS2); 2.5.BCTorqueMinimizationScheme1(BCTMS1); 2.5.1.ConvertionofBoundConstraintsandPerformanceIndex

2.5.2.QPReformulation2.6.BCTorqueMinimizationScheme2(BCTMS2); 2.7.SectionSummary; 3.NeuronetSolvers; 3.1.DualNeuronet(DN); 3.2.LVI-BasedPrimalDualNeuronet(LVI-PDN); 3.3.SimplifiedLVI-BasedPrimalDualNeuronet(SLVI-PDN); 4.SimulationStudiesandAnalyses; 4.1.SimulationsBasedonBCVMS1(4)-(7); 4.2.SimulationsBasedonBCVMS2(13)-(16); 4.3.SimulationsBasedonBCAMS1(18)-(22); 4.4.SimulationsBasedonBCAMS2(24)-(28); 4.5.SimulationsBasedonBCTMS1(30)-(35); 4.6.SimulationsBasedonBCTMS2(38)-(43); 5.Conclusion; References; Chapter 3 GENERATION OF ROBOT TRAJECTORY FOR THERMAL SPRAY ; Abstract ; Introduction

Influence of Trajectory on Coating Profile

Notes:

Description based upon print version of record.

Includes bibliographical references at the end of each chapters and index.

Description based on print version record.

ISBN:

1-63483-418-6