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

ISBN-10: 3540373462

ISBN-13: 9783540373469

ISBN-10: 3540373470

ISBN-13: 9783540373476

This quantity presents a distinct choice of papers written in honor of the seventieth birthday of Suguru Arimoto who has lengthy been famous as a pioneer within the box of robotic keep an eye on. various his study is mirrored during this publication, including contributions from top specialists within the box, who've additionally been heavily linked to Suguru Arimoto at quite a few phases in his distinct occupation. The publication is construct round subject matters: the physics-based robotic regulate for dealing with the so-called daily physics difficulties on one hand, and the problem of reproducing attractive, human-like pursuits however. those topics outlined a lot of Arimoto’s study within the box of robotic keep an eye on and are the cornerstones of his conception of human robotics. themes lined within the ebook tackle typical movement and adaptive regulate of robotic manipulators, visible servoing, passivity-based and iterative studying keep an eye on, man made potentials for nonholonomic structures, strength regulate of haptic units and muscle-activated structures, modeling and research of human-like pursuits in achieving and greedy initiatives. every one bankruptcy is self-contained and treats the topic cohesively and extensive. This quantity will supply a major reference for graduate scholars and researchers, in addition to for engineers and scientists operating within the box of robotics.

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In fact, stable performance of the singularity-consistent kinematic controller is guaranteed within the domain of complete integrability. 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.

12 with those in Fig. 11, it is seen that the local instability at the singularity has been successfully removed. The right part of Fig. 12 shows total joint torques (upper plot) and two joint power components resulting from the integrable and nonintegrable joint acceleration components (lower plot). The action of the filter is evident from the latter. Natural Motion and Singularity-Consistent Inversion 29 Next, we demonstrate motion initialization from within an infinitesimal neighborhood of a stationary point singularity, similar to the simulation in Fig.

Tcho´ n K, Dul¸eba I (1993) On inverting singular kinematics and geodesic trajectory generation for robot manipulators. Journal of Intelligent and Robotic Systems 8:325–359 17. O’Neil K, Chen Y, Seng S (1996) Desingularization of resolved motion rate control of mechanisms. In: Proc. IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota 3147–3154 18. Nenchev D (1995) Tracking manipulator trajectories with ordinary singularities: a null space based approach. The International Journal of Robotics Research 14(4):399–404 19.

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Advances in Robot Control: From Everyday Physics to Human-Like Movements by Suguru Arimoto (auth.), Professor Sadao Kawamura, Mikhail Svinin Doctor (eds.)


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