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Modeling and Control of Robot Manipulators
Lorenzo Sciavicco,Bruno Siciliano +1 more
- 01 Nov 1995
1.2K
TL;DR: In this paper, the authors provide a guide to the foundations of robotics: modelling, mechanics and control, including kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
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Abstract: This text, aimed at senior undergraduate/graduate courses in robotics, provides a guide to the foundations of robotics: modelling, mechanics and control. Fundamental aspects covered include kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
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Citations
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Vitor Ferreira Romano,Cesar Gomes Ferreira +1 more
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TL;DR: In this article, an innovative electro-hydraulic skid was used to position a land ROV in a vertical motion range from the marine soil up to 3m, in a teleoperated mode.
Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator
Qingxin Shi,Jianwu Li,Junjie Dong,Fan-sheng Meng,Rui Ma,Quanbin Lai,Xingguang Duan +6 more
- 22 Oct 2021
TL;DR: In this paper, an optimal posture control method for a robot manipulator is proposed to consider the energy saving during the robot motion, where the Chebyshev-Gauss (CG) Pseudo-spectral method is used to discuss the problem with the energy optimal control.
Development of a Lower Limb Orthosis to Form Neuromuscular Patterning
Karla A. Camarillo–Gómez,Gerardo I. Pérez-Soto,Luis Armando Torres-Rico +2 more
- 17 Aug 2014
TL;DR: A lower limb orthosis is proposed to form the human gait neuromuscular patterns in patients with myelomeningocele and to introduce a lower cost Mexican technology with Mexican anthropometric dimensions.
Diseño de software para la modelación de manipuladores con Matlab y simulación 3D con RoboWorks
Wilmer Sanz,Clemente Herrera,Luis Obediente +2 more
- 01 Jan 2004
TL;DR: The software PGIBOT Mat for modeling of industrial robots, developed with Matlab Graphical User Interface (GUI) as a tool to facilitate the use of a robotic Toolbox and a way to generate simulations files in RoboWorks 3D environment is described.
Robot Control Using On-Line Modification of Reference Trajectories
Javier Moreno-Valenzuela
- 01 Sep 2008
TL;DR: In this chapter, an algorithm for tracking control of manipulators under the practical situation of limited torques and model uncertainties is introduced and considers an internal loop that limits the slope of the path velocity when the torque input is saturated.