Physical Sciences, Engineering and Technology > Robotics > Mobile Robotics

Robot Manipulators

Edited by: Marco Ceccarelli

ISBN 978-953-7619-06-0, Hard cover, 546 pages
Publisher: InTech
Publication date: September 2008
Subject: Mobile Robotics

In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.

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Table of Contents

1. Experimental Results on Variable Structure Control for an Uncertain Robot Model
   K. Bouyoucef1 K. Khorasani and M. Hamerlain
   1200 views, 342 downloads
   
2. Unit Quaternions: A Mathematical Tool for Modeling, Path Planning and Control of Robot Manipulators
   Ricardo Campa and Karla Camarillo
   1495 views, 570 downloads
   
3. Kinematic Design of Manipulators
   Marco Ceccarelli and Erika Ottaviano
   1415 views, 653 downloads
   
4. Gentle Robotic Handling Using Acceleration Compensation
   Suei Jen Chen
   1291 views, 506 downloads
   
5. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy
   Frank Shaopeng Cheng
   1394 views, 1307 downloads
   
6. Control of Robotic Systems Undergoing a Non-Contact to Contact Transition
   S. Bhasin, K. Dupree and W. E. Dixon
   1581 views, 629 downloads
   
7. Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control
   Vincent Duchaine, Samuel Bouchard and Clement Gosselin
   1637 views, 688 downloads
   
8. Experimental Control of Flexible Robot Manipulators
   A. Sanz and V. Etxebarria
   1385 views, 541 downloads
   
9. Improvement of Force Control in Robotic Manipulators Using Sensor Fusion Techniques
   J. Gamez, A. Robertsson, J. Gomez Ortega and R. Johansson
   1411 views, 726 downloads
   
10. Adaptive Neural Network Based Fuzzy Sliding Mode Control of Robot Manipulator
    Ayca Gokhan AK and Galip Cansever
    1305 views, 519 downloads
    
11. Impedance Control of Flexible Robot Manipulators
    Zhao-Hui Jiang
    1413 views, 685 downloads
    
12. Simple Effective Control for Robot Manipulators with Friction
    Maolin Jin, Sang Hoon Kang and Pyung Hun Chang
    1088 views, 395 downloads
    
13. On Transpose Jacobian Control for Monocular Fixed-Camera 3D Direct Visual Servoing
    Rafael Kelly, Ilse Cervantes, Jose Alvarez-Ramirez, Eusebio Bugarin and Carmen Monroy
    1132 views, 386 downloads
    
14. Novel Framework of Robot Force Control Using Reinforcement Learning
    Byungchan Kim and Shinsuk Park
    1132 views, 430 downloads
    
15. Link Mass Optimization Using Genetic Algorithms for Industrial Robot Manipulators
    Serdar Kucuk and Zafer Bingul
    1325 views, 494 downloads
    
16. FPGA-Realization of a Motion Control IC for Robot Manipulator
    Ying-Shieh Kung and Chia-Sheng Chen
    1757 views, 779 downloads
    
17. Experimental Identification of the Inverse Dynamic Model: Minimal Encoder Resolution Needed Application to an Industrial Robot Arm and a Haptic Interface
    Marcassus Nicolas, Alexandre Janot, Pierre-Olivier Vandanjon and Maxime Gautier
    1602 views, 568 downloads
    
18. Towards Simulation of Custom Industrial Robots
    Cosmin Marcu and Radu Robotin
    1402 views, 565 downloads
    
19. Design and Simulation of Robot Manipulators Using a Modular Hardware-in-the-loop Platform
    Adrian Martin and M. Reza Emami
    1610 views, 649 downloads
    
20. Soft-Computing Techniques for the Trajectory Planning of Multi-Robot Manipulator Systems
    Emmanuel A. Merchan-Cruz, Alan S. Morris and Javier Ramírez-Gordillo
    1395 views, 579 downloads
    
21. Robot Control Using On-Line Modification of Reference Trajectories
    Javier Moreno-Valenzuela
    1084 views, 360 downloads
    
22. Motion Behavior of Null Space in Redundant Robotic Manipulators
    Tsuyoshi Shibata and Toshiyuki Murakami
    1551 views, 1014 downloads
    
23. Paddle Juggling by Robot Manipulator with Visual Servo
    Akira Nakashima, Yoshiyasu Sugiyama and Yoshikazu Hayakawa
    1270 views, 461 downloads
    
24. An Industrial Robot as Part of an Automatic System for Geometric Reverse Engineering
    Mohamed Rahayem
    1229 views, 511 downloads
    
25. Sensing Planning of Calibration Measurements for Intelligent Robots
    Mikko Sallinen and Tapio Heikkila
    1106 views, 413 downloads
    
26. Robot Programming in Machining Operations
    Bjorn Solvang, Gabor Sziebig and Peter Korondi
    1617 views, 558 downloads
    
27. Dynamic Visual Servoing with an Uncalibrated Eye-in-Hand Camera
    Hesheng Wang and Yun-Hui Liu
    1203 views, 359 downloads
    
28. Vision-Guided Robot Control for 3D Object Recognition and Manipulation
    S. Q. Xie, E. Haemmerle, Y. Cheng and P. Gamage
    1516 views, 640 downloads