Robot Hands And Multi Fingered Haptic Interfaces

Author: Haruhisa Kawasaki
Publisher: World Scientific
ISBN: 9814635626
Size: 31.32 MB
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Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology. This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface. Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation. Contents:The Human Hand and the Robotic HandKinematics of Multi-Fingered HandsKinematic Constraint and ControllabilityRobot DynamicsStability Theory of Non-Linear SystemsRobot Hand ControlMulti-Fingered Haptic InterfaceTeleoperation of Robot Hands Readership: Academic and Professional, Researchers, Graduate and Post-Graduate Engineering students specializing in robotics. Keywords:Robot Dynamics;Robot Control;Robot Hand;Haptic InterfaceKey Features:Most available books only focus on "robot" and "robot control" for robot arms. This book treats multi-fingered robot handsMulti-fingered haptic interface: this is a novel research area in robot hand application and there is no book on multi-fingered haptic interfacesTeleoperation for multi-fingered robot hands will be realized by using multi-fingered haptic interfaces

Adaptive Control For Robotic Manipulators

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1351678922
Size: 73.69 MB
Format: PDF
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The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

The Mems Handbook

Author: Mohamed Gad-el-Hak
Publisher: CRC Press
ISBN: 9781420050905
Size: 11.36 MB
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The revolution is well underway. Our understanding and utilization of microelectromechanical systems (MEMS) are growing at an explosive rate with a worldwide market approaching billions of dollars. In time, microdevices will fill the niches of our lives as pervasively as electronics do right now. But if these miniature devices are to fulfill their mammoth potential, today's engineers need a thorough grounding in the underlying physics, modeling techniques, fabrication methods, and materials of MEMS. The MEMS Handbook delivers all of this and more. Its team of authors-unsurpassed in their experience and standing in the scientific community- explore various aspects of MEMS: their design, fabrication, and applications as well as the physical modeling of their operations. Designed for maximum readability without compromising rigor, it provides a current and essential overview of this fledgling discipline.

Advanced Automation Techniques In Adaptive Material Processing

Author: Xiaoqi Chen
Publisher: World Scientific
ISBN: 9814488933
Size: 31.53 MB
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This volume presents the editors' research as well as related recent findings on the applications of modern technologies in electrical and electronic engineering to the automation of some of the common manufacturing processes that have traditionally been handled within the mechanical and material engineering disciplines. In particular, the book includes the latest research results achieved through applied research and development projects over the past few years at the Gintic Institute of Manufacturing Technology, Singapore. It discusses advanced automation technologies such as in-process sensors, laser vision systems, and laser strobe vision, as well as advanced techniques such as sensory signal processing, adaptive process control, fuzzy logic, neural networks, expert systems, laser processing control, etc. The methodologies and techniques are applied to some important material processing applications, including grinding, polishing, machining, and welding. Practical automation solutions, which are complicated by part distortions, tool wear, process dynamics, and variants, are explained. The research efforts featured in the book are driven by industrial needs. They combine theoretical research with practical automation considerations. The techniques developed have been either implemented in the factory or prototyped in the laboratory. Contents:Overview of Material Processing AutomationProcess Development and Approach for 3D Profile Grinding/PolishingAdaptive Robotic System for 3D Profile Grinding/PolishingAcoustic Emission Sensing and Signal Processing for Machining Monitoring and ControlTechniques of Automatic Weld Seam TrackingWeld Pool Geometry Sensing and Control in Arc WeldingAutomatic GTAW System Control and TeleoperationLaser Material Processing and Its Quality Monitoring and Control Readership: Graduate students, academics and researchers in robotics & automated systems as well as electrical & electronic, mechanical and materials engineering. Keywords:

Modelling And Simulation Of Robot Manipulators

Author: Albert Y Zomaya
Publisher: World Scientific Publishing Company
ISBN: 9813104546
Size: 26.55 MB
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This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes “benchmark” results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research. Contents:IntroductionThe Parallel Processing ApproachRobot KinematicsComputing the JacobianInverse Jacobian ComputationRobot DynamicsParallel Computations of Robot DynamicsTuning of Robot DynamicsConcluding RemarksAppendix AAppendix BAppendix CAppendix D Readership: Engineers and computer scientists.

Component Based Software Development

Author: Kung-Kiu Lau
Publisher: World Scientific
ISBN: 9812562427
Size: 44.95 MB
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Component-based software development (CBD) is an emerging discipline that promises to take software engineering into a new era. Building on the achievements of object-oriented software construction, CBD aims to deliver software engineering from a cottage industry into an industrial age for Information Technology, wherein software can be assembled from components, in the manner that hardware systems are currently constructed from kits of parts. This volume provides a survey of the current state of CBD, as reflected by activities that have been taking place recently under the banner of CBD, with a view to giving pointers to future trends. The contributions report case studies - self-contained, fixed-term investigations with a finite set of clearly defined objectives and measurable outcomes - on a sample of the myriad aspects of CBD. The book includes chapters dealing with COTS (commercial off-the-shelf) components; methodologies for CBD; compositionality, i.e. how to calculate or predict properties of a composite from those of its constituents; component software testing; and grid computing.

The Good Gift Guide

Author: Susannah Constantine
Publisher: MacMillan
ISBN: 9781899988426
Size: 59.47 MB
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Multi Finger Haptic Interaction

Author: Ignacio Galiana
Publisher: Springer Science & Business Media
ISBN: 1447152042
Size: 60.59 MB
Format: PDF
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Multi-finger Haptic Interaction presents a panorama of technologies and methods for multi-finger haptic interaction, together with an analysis of the benefits and implications of adding multiple-fingers to haptic applications. Research topics covered include: design and control of advanced haptic devices; multi-contact point simulation algorithms; interaction techniques and implications in human perception when interacting with multiple fingers. These multi-disciplinary results are integrated into applications such as medical simulators for training manual skills, simulators for virtual prototyping and precise manipulations in remote environments. Multi-finger Haptic Interaction presents the current and potential applications that can be developed with these systems, and details the systems’ complexity. The research is focused on enhancing haptic interaction by providing multiple contact points to the user. This state-of-the-art volume is oriented towards researchers who are involved in haptic device design, rendering methods and perception studies, as well as readers from different disciplines who are interested in applying multi-finger haptic technologies and methods to their field of interest.

The Human Hand As An Inspiration For Robot Hand Development

Author: Ravi Balasubramanian
Publisher: Springer
ISBN: 3319030175
Size: 54.59 MB
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“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Face Processing And Applications To Distance Learning

Author: Vuong Le
Publisher: World Scientific
ISBN: 9814733040
Size: 65.67 MB
Format: PDF, Mobi
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This special compendium provides a concise and unified vision of facial image processing. It addresses a collection of state-of-the-art techniques, covering the most important areas for facial biometrics and behavior analysis. These techniques also converge to serve an emerging practical application of interactive distance learning. Readers will get a broad picture of the fundamental science of the field and technical details that make the research interesting. Moreover, the intellectual investigation motivated by the demand of real-life application will make this volume an inspiring read for current and prospective researchers and engineers in the fields of computer vision, machine learning and image processing. Contents: IntroductionFacial Expression Recognition3D Face ModelingEye Gaze EstimationExpressive Audio-visual AvatarModel Based Video EncodingStudent Engagement MonitoringConclusion and Future Work Readership: Researchers, academics, professionals and graduate students in machine perception/computer vision, artificial intelligence, pattern recognition and computer engineering.