Vehicle Manipulator Systems

The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

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Author: Pål Johan From

Publisher: Springer Science & Business Media

ISBN: 9781447154631

Category: Technology & Engineering

Page: 388

View: 178

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.

Underwater Robots

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle.

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Author: Gianluca Antonelli

Publisher: Springer

ISBN: 9783662143872

Category: Computers

Page: 185

View: 807

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Springer Handbook of Ocean Engineering

Systems. The vehicle's movements affect its manipulator's and vice versa, unless
the vehicle is completely stationary during ... underwater vehicle-manipulator
system could be seen as a multibody system with redundant degrees-of-freedom.

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Author: Manhar R. Dhanak

Publisher: Springer

ISBN: 9783319166490

Category: Technology & Engineering

Page: 1345

View: 228

This handbook is the definitive reference for the interdisciplinary field that is ocean engineering. It integrates the coverage of fundamental and applied material and encompasses a diverse spectrum of systems, concepts and operations in the maritime environment, as well as providing a comprehensive update on contemporary, leading-edge ocean technologies. Coverage includes an overview on the fundamentals of ocean science, ocean signals and instrumentation, coastal structures, developments in ocean energy technologies and ocean vehicles and automation. It aims at practitioners in a range of offshore industries and naval establishments as well as academic researchers and graduate students in ocean, coastal, offshore and marine engineering and naval architecture. The Springer Handbook of Ocean Engineering is organized in five parts: Part A: Fundamentals, Part B: Autonomous Ocean Vehicles, Subsystems and Control, Part C: Coastal Design, Part D: Offshore Technologies, Part E: Energy Conversion

Naval Ship Systems Command Technical News

Deep Submergence Vehicles Manipulator Systems Underwater manipulator
systems have progressed considerably in the ... short time span between the
pioneering work on Trieste I and the sophisticated system of today's AUTEC
vehicle .

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Author:

Publisher:

ISBN: UCSD:31822031451610

Category: Marine engineering

Page:

View: 660

Teleoperation and Robotics in Space

Vafa and Dubowsky3 proposed cyclic motion of the manipulator joints to change
the vehicle orientation. This illustrated the possibility of utilizing the
nonholonomic mechanical structure of space vehicle/manipulator systems.
However, this ...

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Author: Carl F. Ruoff

Publisher: AIAA

ISBN: 1600864147

Category: Electronic books

Page: 507

View: 254

Manoeuvring and Control of Marine Craft 2003 MCMC 2003

Platoons of underwater vehicles . IEEE Control Systems Magazine pp . 45–52 . 6.
REFERENCES Antonelli , G. and S. Chiaverini ( 2003a ) . Fuzzy redundancy
resolution and motion coordination for underwater vehicle - manipulator systems
.

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Author: Joan Batlle

Publisher: Elsevier

ISBN: 0080440339

Category: Transportation

Page: 317

View: 490

The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.

Proceedings of the NASA Conference on Space Telerobotics Volume 3

Taking this in to account , a vehicle with a 6 d.o.f. manipulator is described as a 9
variable system with 6 inputs . This fact implies the possibility to control the
vehicle orientation as well as the joint variables of the manipulator by actuating
the ...

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Author:

Publisher:

ISBN: NASA:31769000685142

Category:

Page: 541

View: 558

Bridges Across the Oceans

[ 2 ] T. I. Fossen , Marine Control Systems : Guidance , Nayigation and Control of
Ships , Rigs and Underwater Vehicles . Marine Cybernetics ... [ 3 ] G. Antonelli ,
Underwater Robots : Motion and Force Control of Vehicle - Manipulator Systems .

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Author: OCEANS'04 MTS/IEEE TECHNO-OCEAN '04

Publisher:

ISBN: 0780386698

Category:

Page: 584

View: 650

Spacecraft Robotics

This book offers a rigorous treatment of orbital space robotics, from its foundations to problem cases, focusing on mathematical modeling and flight mechanics. The book is intended for graduate students, researchers and practitioners.

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Author: Marcello Romano

Publisher: de Gruyter

ISBN: 3110466511

Category: Technology & Engineering

Page: 316

View: 581

This textbook deals with the dynamics, guidance, navigation and control of autonomous spacecraft and robots: analysis, simulation, experimentation. The contents include orbital robotics, on-board autonomy, laboratory experimentation, space vehichles, modeling and simulation. Moreover, the book covers space mission advanced concepts, attitude dynamics and control, CubeSats, control moment gyroscopes, and space systems.

Ocean Resources

Underwater work systems can be made more effective if vehicles and
manipulators are automatically controlled and can work together in a coordinated
fashion. Coordinated control can greatly increase the workspace of the
manipulator ...

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Author: D.A. Ardus

Publisher: Springer Science & Business Media

ISBN: 9789400921337

Category: Science

Page: 240

View: 392

Ocean engineering is generally considered to be concerned with studies on the effects of the ocean on the land and with the design, construction and operation of vehicles, structures and systems for use in the ocean or marine environment. The practice of engineering differs from that of science in both motivations and objectives. Science seeks understanding of the principles of nature in terms of generalizations expressed as laws and classifications. Engineering seeks the application of knowledge of the physical and natural world to produce a benefit expressed as a device, system, material, and/or process. From the standpoint of the financial sponsors of an engineering project, the ideal approach is one of minimal risk in which only proven knowledge, materials and procedures are employed. There is frequent departure from this ideal in anticipation of the increased benefit expected from a large increase in performance of a structure or device. The process of acquiring this new capability is engineering research. Historically, ocean engineering developed with the application of engineering principles and processes to the design of ships and, later, to the machinery that propels them. In most societies, naval architecture and marine engineering are recognised as the origin of ocean engineering. In fact, the design of a ship constitutes the original systems engineering programme involving hydrodynamics/fluid flow, structural design, machinery design, electrical engineering and so on as well as requiring knowledge of the ocean environment (waves, corrosion, etc.).

Naval Ship Systems Command Technical News

Deep Submergence Vehicles Manipulator Systems Underwater manipulator
systems have progressed considerably in the ... short time span between the
pioneering work on Trieste I and the sophisticated system of today ' s AUTEC
vehicle .

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Author:

Publisher:

ISBN: PSU:000059837619

Category: Marine engineering

Page:

View: 829

Annual Meeting of the North American Fuzzy Information Processing Society NAFIPS

N . Sarkar and T . K . Podder , " Coordinated motion planning and control of
autonomous Underwater Vehicle - Manipulator Systems subject to drag
optimization " IEEE J . Oceanic Engineering , 26 , pp . 228 - 239 . 2001 . C .
Canudas de Wit ...

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Author: North American Fuzzy Information Processing Society. Annual Meeting

Publisher:

ISBN: UOM:39015058776645

Category: Fuzzy systems

Page:

View: 115

Introduction to Autonomous Manipulation

The search for a mathematical model to accurately represent the physical
behavior of a generic mechanical system is the ... Within this approach concepts
like manipulability can easily be applied to the whole vehicle-manipulator system
and, ...

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Author: Giacomo Marani

Publisher: Springer

ISBN: 9783642546136

Category: Technology & Engineering

Page: 162

View: 794

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

Robotics Research

ABSTRACT A free - flying space vehicle with manipulators is conceived to
perform various tasks for construction and maintenance of space ... A space
vehicle with a 6 DOF manipulator is described as a nine variable system with six
inputs .

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Author:

Publisher:

ISBN: PSU:000016892927

Category: Artificial intelligence

Page:

View: 992

Robotics Research

ABSTRACT A free - flying space vehicle with manipulators is conceived to
perform various tasks for construction and maintenance of space ... A space
vehicle with a 6 DOF manipulator is described as a nine variable system with six
inputs .

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Author: Hirofumi Miura

Publisher: Mit Press

ISBN: UCSD:31822004927208

Category: Computers

Page: 468

View: 791

AUGUST 28-31, 1989, TOKYO, JAPANAUGUST 28-31, 1989, TOKYO, JAPANKinematics and Dynamics. Control Systems. Motion and Path Planning. Robot Programming, Vision, and Sensing.

The Proceedings of the Seventh 2006 ISOPE Pacific Asia Offshore Mechanics Symposium

Dynamic Analysis and Two - time Scale Control for Underwater Vehicle -
Manipulator Systems , ” Proc 2003 IEEE / RSJ Int Conf Intelligent Robots and
Systems , Vol 1 , pp 577-582 . . Lewis , FL , Liu , K , and Yesildirek , A ( 1995 ) . “
Neural Net ...

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Author: International Society of Offshore and Polar Engineers

Publisher:

ISBN: 1880653672

Category: Breakwaters

Page:

View: 283

2003 IEEE RSJ International Conference on Intelligent Robots and Systems

Then , there exist only surge , heave and pitch motions in vehicle movement as
Fig . 5 ( b ) . The attached 3 - DOF manipulator gives the strong inertial coupling
condition , if M 12 does not lose a rank . In the proposed system , M 12 always
has ...

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Author:

Publisher: Institute of Electrical & Electronics Engineers(IEEE)

ISBN: 0780378601

Category: Artificial intelligence

Page: 3828

View: 914

Taken from the proceedings of the 2003 IEEE/RSJ International Conference, this volume examines aspects of intelligent robots and systems.

Proceedings of the ANS Topical Meeting on Robotics and Remote Systems

DEVELOPMENT OF THE HEAVY MANIPULATOR VEHICLE SYSTEM ( HMV ) P .
Paustian Commerical Technologies Mak System Gesellschaft mbH P . O . Box 93
33 D - 2300 Kiel 17 - 431 - 3995 - 535 INDEX BY COMPANY Company Last ...

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Author:

Publisher:

ISBN: UOM:39015059575962

Category: Hot laboratories (Radioactive substances)

Page:

View: 509

Manufacturing Science and Technology ICMST2011

[5] Bin Xu, Norimitsu Sakagami, Shunmugham R.Pandian and Fred Petry: A
Fuzzy Controller for Underwater Vehicle-Manipulator Systems.In: MTS/IEEE
Oceans, pp. 1110 – 1115, 2005. [6] Chuan-Kai Lin:Adaptive Critic Control of
Autonomous ...

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Author: Wu Fan

Publisher: Trans Tech Publications Ltd

ISBN: 9783038137580

Category: Technology & Engineering

Page: 8340

View: 911

Volume is indexed by Thomson Reuters CPCI-S (WoS). The objective of ICMST 2011 was to provide a platform where researchers, engineers, academics and industrial professionals from all over the world could present their research results and discuss developments in Manufacturing Science and Technology. This conference provided opportunities for delegates to exchange new ideas and applications face-to-face, to establish business or research contacts and to find global partners for future collaboration.

Proceedings

A space vehicle with a 6 DOF manipulator is described as a nine variable system
with six inputs . ... planning method of nonholonomic motion is developed using a
Lyapunov function . chanical structure of space vehicle / manipulator systems .

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Author:

Publisher:

ISBN: 0818620617

Category: Automatic control

Page: 2184

View: 416