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- (Book) Spong - Robot Modeling and Control (2006)
- Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, M. Vidyasagar (z-lib.org).pdf
- Robot Modeling and Control
- Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, M. Vidyasagar (z-lib.org).pdf

*Embed Size px x x x x Spong, Seth Hutchinson, and M.*

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. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators, lightweight flexible arms, space robots, human-centered and service robotics.

## (Book) Spong - Robot Modeling and Control (2006)

English Pages [] Year Solutions Manual for the Robot Modeling and Control book. This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot. This book describes the design, mathematical modeling, control system development and experimental validation of a versa. Provides students with an understanding of the modeling and practice in power system stability analysis and control desi. Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the mod.

This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed. This book offers a gentle introduction to Clifford geometric algebra, an advanced mathematical framework, for applicatio. Position-Based Approaches MARK W. Spong Seth Hutchinson M. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by law.

The right of Mark W. Spong, Seth Hutchinson and M. Vidyasagar to be identified as the author s of this work has been asserted in accordance with law. Wiley also publishes its books in a variety of electronic formats and by print-on-demand. Some content that appears in standard print versions of this book may not be available in other formats.

In view of ongoing research, equipment modifications, changes in governmental regulations, and the constant flow of information relating to the use of medicines, equipment, and devices, the reader is urged to review and evaluate the information provided in the package insert or instructions for each medicine, equipment, or device for, among other things, any changes in the instructions or indication of usage and for added warnings and precautions.

While the publisher and authors have used their best efforts in preparing this work, they make no representations or warranties with respect to the accuracy or completeness of the contents of this work and specifically disclaim all warranties, including without limitation any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives, written sales materials or promotional statements for this work.

This work is sold with the understanding that the publisher is not engaged in rendering professional services. The advice and strategies contained herein may not be suitable for your situation.

You should consult with a specialist where appropriate. Further, readers should be aware that websites listed in this work may have changed or disappeared between when this work was written and when it is read. Neither the publisher nor authors shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. Hutchinson, Seth, author.

Vidyasagar, M. Mathukumalli , author. Description: Second edition. Includes bibliographical references and index. Spong and M. The second edition reflects some of the changes that have occurred in robotics and robotics education in the past decade. In particular, many courses are now treating mobile robots on an equal footing with robot manipulators. As a result, we have expanded the discussion on mobile robots into a full chapter.

In addition, we have added a new chapter on underactuated robots. We have also revised the material on vision, vision-based control, and motion planning to reflect changes in those topics. Organization of the Text After the introductory first chapter, which introduces the terminology and history of robotics and discusses the most common robot design and applications, the text is organized into four parts.

Part I consists of four chapters dealing with the geometry of rigid motions and the kinematics of manipulators. Chapter 2 presents the mathematics of rigid motions; rotations, translations, and homogeneous transformations.

Chapter 3 presents solutions to the forward kinematics problem using the Denavit—Hartenberg representation, which gives a very straightforward and systematic way to describe the forward kinematics of manipulators. Chapter 4 discuses velocity kinematics and the manipulator Jacobian. The geometric Jacobian is derived in the cross product form. We also introduce the so-called analytical Jacobian for later use in task space control.

We have reversed the order of our treatment of velocity kinematics and inverse kinematics from the presentation in the first edition in order to include a new section in Chapter 5 on numerical inverse kinematics algorithms, which rely on the Jacobian for their implementation.

Chapter 5 deals with the inverse kinematics problem using the geometric vi PREFACE approach, which is especially suited for manipulators with spherical wrists. We show how to solve the inverse kinematics in closed form for the most common manipulator designs.

We also discuss numerical search algorithms for solving inverse kinematics. Numerical algorithms are increasingly popular because of both the increasing power of computers and the availability of open-source software for numerical algorithms. Part II deals with dynamics and motion planning and consists of two chapters. Chapter 6 is a detailed account of robot dynamics. The Euler—Lagrange equations are derived from first principles and their structural properties are discussed in detail.

The recursive Newton—Euler formulation of robot dynamics is also presented. Chapter 7 is an introduction to the problems of path and trajectory planning. Several of the most popular methods for motion planning and obstacle avoidance are presented, including the method of artificial potential fields, randomized algorithms, and probabilistic roadmap methods. The problem of trajectory generation is presented as essentially a problem of polynomial spline interpolation.

Trajectory generation based on cubic and quintic polynomials as well as trapezoidal velocity trajectories are derived for interpolation in joint space. Part III deals with the control of manipulators. Chapter 8 is an introduction to independent joint control. Linear models and linear control methods based on PD, PID, and state space methods are presented for set-point regulation, trajectory tracking, and disturbance rejection.

The concept of feedforward control, including the method of computed torque control, is introduced as a method for nonlinear disturbance rejection and for tracking of time-varying reference trajectories. Chapter 9 discusses nonlinear and multivariable control. This chapter summarizes much of the research in robot control that took place in the late s and early s.

Simple derivations of the most common robust and adaptive control algorithms are presented that prepare the reader for the extensive literature in robot control. Chapter 10 treats the force control problem. Both impedance control and hybrid control are discussed. We also present the lesser known hybrid impedance control method, which allows one to control impedance and regulate motion and force at the same time.

To our knowledge this is the first textbook that discusses the hybrid impedance control approach to robot force control. Chapter 11 is an introduction to visual servo control, which is the problem of controlling robots using feedback from cameras mounted either on PREFACE vii the robot or in the workspace.

We present those aspects of vision that are most useful for vision-based control applications, such as imaging geometry and feature extraction. We then develop the differential kinematics that relate camera motion to changes in extracted features and we discuss the main concepts in visual servo control. Chapter 12 is a tutorial overview of geometric nonlinear control and the method of feedback linearization of nonlinear systems. Feedback linearization generalizes the methods of computed torque and inverse dynamics control that are covered in Chapters 8 and 9.

We also introduce the notion of nonlinear observers with output injection. Part IV is a completely new addition to the second edition and treats the control problems for underactuated robots and nonholonomic systems. Chapter 13 deals with underactuated serial-link robots. Underactuation arises in applications such as bipedal locomotion and gymnastic robots. In fact, the flexible-joint robot models presented in Chapters 8 and 12 are also examples of underactuated robots.

We present the ideas of partial feedback linearization and transformation to normal forms, which are useful for controller design. We also discuss energy and passivity methods to control this class of systems. Chapter 14 deals primarily with wheeled mobile robots, which are examples of systems subject to nonholonomic constraints.

Many of the control design methods presented in the chapters leading up to Chapter 14 do not apply to nonholonomic systems. Thus, we cover some new techniques applicable to these systems. Finally, the appendices have been expanded to give much of the necessary background mathematics to be able to follow the development of the concepts in the text.

A Note to the Instructor This text is suitable for several quarter-long or semester-long courses in robotics, either as a two- or three- course sequence or as stand-alone courses. Chapter 8 may also be included in an introductory course for students with some exposure to linear control systems. The independent joint control viii PREFACE problem largely involves the control of actuator and drive-train dynamics; hence most of the subject can be taught without prior knowledge of Euler— Lagrange dynamics.

A graduate-level course on robot dynamics and control can be taught using all or parts of Chapters 6 through Finally, one or more special topics courses can be taught using Chapters 9 through Also, either of the last two chapters can be covered in Course 2 by eliminating the Force Control chapter or the Vision-Based Control chapter. Acknowledgements We would like to offer a special thanks to Nick Gans, Peter Hokayem, Benjamin Sapp, and Daniel Herring, who did an outstanding job of producing most of the figures in the first edition, and to Andrew Messing for figure contributions to the current edition.

We would like to thank Francois Chaumette for discussions regarding the formulation of the interaction matrix in Chapter 11 and to Martin Corless for discussion on the robust control problem in Chapter 9. We would like to acknowledge Lila Spong for proofreading the manuscript of the second edition, and also the many people who sent us lists of typographical errors and corrections to the first edition, especially Katherine Kuchenbecker and her students, who provided numerous corrections.

Mark W. Notes and References. Position-Based Approaches. Understanding the complexity of robots and their application requires knowledge of electrical engineering, mechanical engineering, systems and industrial engineering, computer science, economics, and mathematics.

New disciplines of engineering, such as manufacturing engineering, applications engineering, and knowledge engineering have emerged to deal with the complexity of the field of robotics and factory automation. More recently, mobile robots are increasingly important for applications like autonomous vehicles and planetary exploration.

## Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, M. Vidyasagar (z-lib.org).pdf

Convention Potential Fields Appendix B Linear Algebra B. Appendix C Lyapunov Stability C. Robotics is a relatively young field of modern technology that crosses tra-ditional engineering boundaries. Understanding the complexity of robots andtheir applications requires knowledge of electrical engineering, mechanical engi-neering, systems and industrial engineering, computer science, economics, andmathematics. New disciplines of engineering, such as manufacturing engineer-ing, applications engineering, and knowledge engineering have emerged to dealwith the complexity of the field of robotics and factory automation.

Embed Size px x x x x Spong, Seth Hutchinson, and M. January 28, Robot Dynamics and Control Mark W. Vidyasagar on Amazon.

## Robot Modeling and Control

The cover was printed by Phoenix Color. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scarming or otherwise, except as permitted under Sections or of the United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc. The field of robotics has changed in numerous and exciting ways since the early 's when robot manipulators were touted as the ultimate solution to automated manufacturing.

### Robot Modeling and Control by Mark W. Spong, Seth Hutchinson, M. Vidyasagar (z-lib.org).pdf

Convention Potential Fields Appendix B Linear Algebra B. Appendix C Lyapunov Stability C. Robotics is a relatively young field of modern technology that crosses tra-ditional engineering boundaries.

English Pages [] Year Solutions Manual for the Robot Modeling and Control book. This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot. This book describes the design, mathematical modeling, control system development and experimental validation of a versa. Provides students with an understanding of the modeling and practice in power system stability analysis and control desi. Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the mod.

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Robot Modeling and. Control. First Edition. Mark W. Spong, Seth Hutchinson, and The probability density function (pdf) tells how likely it is that the variable qi.

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