Biomimetic robotics: mechanisms and control
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Cambridge [u.a.]
Cambridge Univ. Press
2009
|
| Edition: | 1. publ. |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XVI, 343 S. graph. Darst. |
| ISBN: | 9780521895941 |
Staff View
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| 100 | 1 | |a Vepa, Ranjan |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Biomimetic robotics |b mechanisms and control |c Ranjan Vepa |
| 250 | |a 1. publ. | ||
| 264 | 1 | |a Cambridge [u.a.] |b Cambridge Univ. Press |c 2009 | |
| 300 | |a XVI, 343 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 650 | 4 | |a Chimie biomimétique | |
| 650 | 4 | |a Robotique | |
| 650 | 4 | |a Robotics | |
| 650 | 4 | |a Biomimetics | |
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Record in the Search Index
| _version_ | 1804138713295355904 |
|---|---|
| adam_text | Contents
Preface
page
xiii
Acronyms
xv
1.
The Robot
......................................1
1.1
Robotics: An Introduction
1
1.2
Robot-Manipulator Fundamentals and Components
5
1.3
From Kinematic Pairs to the Kinematics of Mechanisms
12
1.4
Novel Mechanisms
13
1.4.1
Rack-and-Pinion Mechanism
14
1.4.2
Pawl-and-Ratchet Mechanism
14
1.4.3
Pantograph
15
1.4.4
Quick-Return Mechanisms
15
1.4.5 Ackermann
Steering Gear
16
1.4.6
Sun and Planet Epicyclic Gear Train
17
1.4.7
Universal Joints
17
1.5
Spatial Mechanisms and Manipulators
18
1.6
Meet Professor da Vinci the Surgeon, PUMA, and
SCARA
20
1.7
Back to the Future
23
EXERCISES
24
2.
Biomimetic Mechanisms
.............................25
2.1
Introduction
25
2.2
Principles of Legged Locomotion
27
2.2.1
Inchworm Locomotion
29
2.2.2
Walking Machines
30
2.2.3
Autonomous Footstep Planning
31
2.3
Imitating Animals
31
2.3.1
Principles of Bird Flight
33
2.3.2
Mechanisms Based on Bird Flight
34
2.3.3
Swimming Like a Fish
37
viii Contents
2.4
Biomimetic
Sensors
and Actuators
39
2.4.1
Action Potentials
43
2.4.2
Measurement and Control of Cellular Action Potentials
46
2.4.3
Bionic
Limbs: Interfacing Artificial Limbs to Living Cells
47
2.4.4
Artificial Muscles: Flexible Muscular Motors
51
2.4.5
Prosthetic Control of Artificial Muscles
53
2.5
Applications in Computer-Aided Surgery and Manufacture
55
2.5.1
Steady Hands: Active Tremor Compensation
56
2.5.2
Design of Scalable Robotic Surgical Devices
58
2.5.3
Robotic Needle Placement and Two-Hand Suturing
60
EXERCISES
61
3.
Homogeneous Transformations and Screw Motions
............62
3.1
General Rigid Motions in Two Dimensions
62
3.1.1
Instantaneous Centers of Rotation
64
3.2
Rigid Body Motions in Three Dimensions: Definition of Pose
64
3.2.1
Homogeneous Coordinates: Transformations of Position
and Orientation
65
3.3
General Motions of Rigid Frames in Three Dimensions: Frames
with Pose
66
3.3.1
The Denavit-Hartenberg Decomposition
66
3.3.2
Instantaneous Axis of Screw Motion
67
3.3.3.
A Screw from a Twist
69
EXERCISES
70
4.
Direct Kinematics of Serial Robot Manipulators
..............74
4.1
Definition of Direct or Forward Kinematics
74
4.2
The Denavit-Hartenberg Convention
74
4.3
Planar Anthropomorphic Manipulators
76
4.4
Planar Nonanthropomorphic Manipulators
78
4.5
Kinematics of Wrists
80
4.6
Direct Kinematics of Two Industrial Manipulators
81
EXERCISES
86
5.
Manipulators with Multiple Postures and Compositions
..........89
5.1
Inverse Kinematics of Robot Manipulators
89
5.1.1
The Nature of Inverse Kinematics: Postures
91
5.1.2
Some Practical Examples
95
5.2
Parallel Manipulators: Compositions
99
5.2.1
Parallel Spatial Manipulators: The Stewart Platform
101
5.3
Workspace of a Manipulator
105
exercises
107
Contents ix
6.
Grasping: Mechanics and Constraints
....................
Ill
6.1
Forces and Moments 111
6.2
Definition of a Wrench
112
6.3
Mechanics of Gripping
112
6.4
Transformation of Forces and Moments
114
6.5
Compliance
115
6.5.1
Passive and Active Compliance
116
6.5.2
Constraints: Natural and Artificial
116
6.5.3
Hybrid Control
117
EXERCISES
118
7.
Jacobians
.....................................120
7.1
Differential Motion
120
7.1.1
Velocity Kinematics
123
7.1.2
Translational Velocities and Acceleration
124
7.1.3
Angular Velocities
127
7.2
Definition of a Screw Vector: Instantaneous Screws
127
7.2.1
Duality with the Wrench
129
7.2.2
Transformation of a Compliant Body Wrench
130
7.3
The Jacobian and the Inverse Jacobian
131
7.3.1
The Mobility Criterion: Overconstrained Mechanisms
133
7.3.2
Singularities: Physical Interpretation
134
7.3.3
Manipulability: Putting Redundant Mechanisms to Work
136
7.3.4
Computing the Inverse Kinematics: The Lyapunov
Approach
137
exercises
140
8.
Newtonian, Eulerian, and Lagrangian Dynamics
.............142
8.1
Newtonian and Eulerian Mechanics
142
8.1.1
Kinetics of Screw Motion: The Newton-Euler Equations
145
8.1.2
Moments of Inertia
146
8.1.3
Dynamics of a Link s Moment of Inertia
147
8.1.4
Recursive Form of the Newton-Euler Equations
149
8.2
Lagrangian Dynamics of Manipulators
152
8.2.1
Forward and Inverse Dynamics
154
8.3
The Principle of Virtual Work
156
EXERCISES
158
9.
Path Planning, Obstacle Avoidance, and Navigation
...........164
9.1
Fundamentals of Trajectory Following
164
9.1.1
Path Planning: Trajectory Generation
165
9.1.2
Splines,
Bézier
Curves, and Bernstein Polynomials
167
9.2
Dynamic Path Planning
172
χ
Contents
9.3
Obstacle
Avoidance
174
9.4
Inerţial
Measuring and Principles of Position and
Orientation Fixing
180
9.4.1
Gyro-Free
Inerţial
Measuring Units
188
9.4.2
Error Dynamics of Position and Orientation
189
EXERCISES
193
10.
Hamiltonian Systems and Feedback Linearization
............198
10.1
Dynamical Systems of the Liouville Type
198
10.1.1
Hamilton s Equations of Motion
199
10.1.2
Passivity of Hamiltonian Dynamics
202
10.1.3
Hamilton s Principle
203
10.2
Contact Transformation
204
10.2.1
Hamilton-Jacobi Theory
205
10.2.2
Significance of the Hamiltonian Representations
206
10.3
Canonical Representations of the Dynamics
207
10.3.1
Lie Algebras
208
10.3.2
Feedback Linearization
210
10.3.3
Partial State-Feedback Linearization
213
10.3.4
Involutive Transformations
214
10.4
Applications of Feedback Linearization
215
10.5
Optimal Control of Hamiltonian and Near-Hamiltonian Systems
223
10.6
Dynamics of Nonholonomic Systems
225
10.6.1
The Bicycle
228
EXERCISES
236
11.
Robot Control
..................................242
11.1
Introduction
242
11.1.1
Adaptive and Model-Based Control
242
11.1.2
Taxonomies of Control Strategies
252
11.1.3
Human-Centered Control Methods
252
11.1.4
Robot-Control Tasks
257
11.1.5
Robot-Control Implementations
258
11.1.6
Controller Partitioning and Feedforward
259
11.1.7
Independent Joint Control
260
11.2
HAL, Do You Understand JAVA?
261
11.3
Robot Sensing and Perception
263
EXERCISES
269
12.
Biomimetic Motive Propulsion
........................272
12.1
Introduction
272
12.2
Dynamics and Balance of Walking Biped Robots
272
12.2.1
Dynamic Model for Walking
272
12.2.2
Dynamic Balance during Walking: The Zero-Moment Point
277
Contents xi
12.2.3
Half-Model for a Quadruped Robot: Dynamics and Control
279
12.3
Modeling Bird Flight: Robot Manipulators in Free Flight
281
12.3.1
Dynamics of a Free-Flying Space Robot
282
12.3.2
Controlling a Free-Flying Space Robot
284
12.4
Flapping Propulsion of Aerial Vehicles
285
12.4.1
Unsteady Aerodynamics of an Aerofoil
287
12.4.2
Generation of Thrust
294
12.4.3
Controlled Flapping for Flight Vehicles
299
12.5
Underwater Propulsion and Its Control
301
exercises
304
Answers to Selected Exercises
........................ 309
Appendix: Attitude and Quaternions
.................... 317
Bibliography
335
Index
339
|
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| language | English |
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| spelling | Vepa, Ranjan Verfasser aut Biomimetic robotics mechanisms and control Ranjan Vepa 1. publ. Cambridge [u.a.] Cambridge Univ. Press 2009 XVI, 343 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Chimie biomimétique Robotique Robotics Biomimetics Robotik (DE-588)4261462-4 gnd rswk-swf Bionik (DE-588)4006888-2 gnd rswk-swf Bionik (DE-588)4006888-2 s Robotik (DE-588)4261462-4 s DE-604 Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017187255&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Vepa, Ranjan Biomimetic robotics mechanisms and control Chimie biomimétique Robotique Robotics Biomimetics Robotik (DE-588)4261462-4 gnd Bionik (DE-588)4006888-2 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4006888-2 |
| title | Biomimetic robotics mechanisms and control |
| title_auth | Biomimetic robotics mechanisms and control |
| title_exact_search | Biomimetic robotics mechanisms and control |
| title_full | Biomimetic robotics mechanisms and control Ranjan Vepa |
| title_fullStr | Biomimetic robotics mechanisms and control Ranjan Vepa |
| title_full_unstemmed | Biomimetic robotics mechanisms and control Ranjan Vepa |
| title_short | Biomimetic robotics |
| title_sort | biomimetic robotics mechanisms and control |
| title_sub | mechanisms and control |
| topic | Chimie biomimétique Robotique Robotics Biomimetics Robotik (DE-588)4261462-4 gnd Bionik (DE-588)4006888-2 gnd |
| topic_facet | Chimie biomimétique Robotique Robotics Biomimetics Robotik Bionik |
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