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Dynamics of Tree-Type Robotic Systems

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 62)

DOI: 10.1007/978-94-007-5006-7

ISBN: 978-94-007-5005-0

Publisher: Springer Netherlands - Springer Journals

Sep 22, 2012

1 - 10 of 10 Chapters

Available

Introduction

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 1 –7

[Robots find applications in automobile, electronics, chemical and many other industries. The field of robotics has evolved since the development of industrial robots, which have mainly fixed base with serial-chain architecture. Since then many new applications like maintenance task of industrial...
Available

Dynamics of Robotic Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 9 –25

[The field of robotics has grown a lot in last three to four decades. In this chapter, background and developments in the field of dynamics of robotic systems are presented.]
Available

Euler-Angle-Joints (EAJs)

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 27 –55

[As frequently noted in the literature on robotics (Sugihara et al. 2002; Kurazume et al. 2003; Vukobratovic et al. 2007; Kwon and Park 2009) and mechanisms (Duffy 1978; Chaudhary and Saha 2007), a higher Degrees-of-Freedom (DOF) joint, say, a universal, a cylindrical or a spherical joint, can be...
Available

Kinematics of Tree-Type Robotic Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 57 –72

[Kinematic modeling of a tree-type robotic system is presented in this chapter. In order to obtain kinematic constraints, a tree-type topology is first divided into a set of modules. The kinematic constraints are then obtained between these modules by introducing the concepts of module-twist,...
Available

Dynamics of Tree-Type Robotic Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 73 –88

[As reviewed in Chap. 2, Newton-Euler (NE) equations of motion are found to be popular in dynamic formulations. Several methods were also proposed by various researchers to obtain the Euler-Langrage’s form of NE equations of motion. One of these methods is based on velocity transformation of the...
Available

Recursive Dynamics for Fixed-Base Robotic Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 89 –115

[In this chapter, dynamic analyses of fixed-base robotic systems are presented using the dynamic modeling presented in Chap. 5. For this, recursive inverse and forward dynamics algorithms are developed. The algorithms take care of the multiple-DOF joints in an efficient manner, as explained in...
Available

Recursive Dynamics for Floating-Base Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 117 –154

[Robotic systems studied in Chap. 6 have their bases fixed, however, in reality many robotic systems have their bases mobile or floating. In the case of a fixed-base robotic system, the base does not influence the dynamics, whereas it significantly influences the dynamics in the case of a...
Available

Closed-Loop Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 155 –171

[Closed-loops are inherent in many practical robotic systems. In this chapter, analyses of closed-loop systems are presented using the dynamic formulation given in Chaps. 5,6 and 7.]
Available

Controlled Robotic Systems

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 173 –185

[A controller is an essential part of a robotic system in achieving desired motion. A Proportional Integral Derivative (PID) controller is the simplest form of controller used for this purpose. A PID controller is widely used in industries for the control of processes or machines. In a robotic...
Available

Recursive Dynamics Simulator (ReDySim)

Shah, Suril Vijaykumar; Saha, Subir Kumar; Dutt, Jayanta Kumar

Pages: 187 –204

[Based on the recursive algorithms presented in Chaps. 6 and 7, a Recursive Dynamics Simulator (ReDySim) is developed in MatLab (2009) platform for analyses of fixed- and floating-base tree-type, and closed-loop systems. Its usage is shown in this chapter.]

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