Download Advances in Telerobotics (Springer Tracts in Advanced by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio PDF

By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer

A desirable ebook that covers intimately all the newest advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every little thing from equipment and experimental effects to functions and advancements. Its 3 sections disguise human procedure interfaces, keep an eye on, and functions. The publication is complemented via a truly precious CD-ROM containing fifteen study movies that support to convey the fabric within the e-book to existence.

Show description

Read or Download Advances in Telerobotics (Springer Tracts in Advanced Robotics) PDF

Best system theory books

Phase Transitions (Primers in Complex Systems)

Section transitions--changes among diversified states of association in a posh system--have lengthy helped to provide an explanation for physics thoughts, similar to why water freezes right into a strong or boils to turn into a gasoline. How may perhaps section transitions make clear vital difficulties in organic and ecological complicated platforms?

Evolving Rule-Based Models: A Tool for Design of Flexible Adaptive Systems

The items of modelling and regulate switch because of dynamical features, fault improvement or just growing old. there's a have to up-date types inheriting invaluable constitution and parameter details. The ebook supplies an unique technique to this challenge with a few examples. It treats an unique method of online edition of rule-based versions and structures defined by way of such types.

An Operator Perspective on Signals and Systems

During this monograph, we mix operator options with nation house how to clear up factorization, spectral estimation, and interpolation difficulties coming up up to speed and sign processing. We current either the idea and algorithms with a few Matlab code to unravel those difficulties. A classical method of spectral factorization difficulties on top of things idea relies on Riccati equations bobbing up in linear quadratic keep watch over concept and Kalman ?

Extra info for Advances in Telerobotics (Springer Tracts in Advanced Robotics)

Example text

Another passive design with disturbance forces very close to the human perceptual threshold is the Freedom 6S (MPB Technologies), the commercial version of Freedom 7, see [15]. One of the disadvantages of these passive design approaches are a comparatively limited control stiffness due to the low physical damping present in the joints. As these purely passive devices do not provide force measurement capability they cannot be used for applications that fundamentally require the render of admittances where motion is a response to force input and not vice versa.

The safety aspect can be solved by using a 4-jointed roll-yaw-pitch-roll wrist as described in [32]. Then, the position of the elbow can be controlled to prevent collisions with the operator because singular wrist configurations can be avoided with the selfmotion of 2 Design, Control, and Evaluation of a Hyper-redundant Haptic Device 33 force sensor revolute joint 11111 00000 00000 11111 00000 11111 Fig. 2. Typical 7 DOF anthropomorphic robot arm end-effector Fig. 3. Hyper-redundant haptic device ViSHaRD10 the redundant wrist.

Although a SCARA segment with three links is sufficient for the elimination of the singularity in the center of the planar workspace we decided for an arm with 4 revolute joints (4R) for two reasons: First, it is well known that the 4R arm provides improved dexterity compared to the 3R arm [33] and second, the avoidance of user interference is much simpler to achieve. Alternatively we weighed up the use of a 2 DOF linear axes design for the positioning in the x-y-plane as this also provides an interior singularity free workspace.

Download PDF sample

Rated 4.87 of 5 – based on 7 votes