Modular robots : theory and practice / Guilin Yang, I-Ming Chen.
This book introduces the latest advances in modular robotics, and presents a unified geometric framework for modeling, analysis, and design of modular robots, including kinematics, dynamics, calibration, and configuration optimization. Supplementing the main content with a wealth of illustrations, t...
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| Main Authors: | , |
|---|---|
| Format: | Ebook |
| Language: | English |
| Published: |
Singapore : Wuhan :
Springer ; Huazhong University of Science and Technology Press,
[2022]
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| Series: | Research on intelligent manufacturing.
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| Subjects: | |
| Online Access: | Springer eBooks |
Table of Contents:
- Intro
- Preface
- Contents
- List of Figures
- List of Tables
- 1 Introduction
- 1.1 Motivation
- 1.2 Past Research and Development Efforts
- 1.3 Overview of This Book
- 2 Module Designs
- 2.1 Module Design Requirements
- 2.2 Joint Modules
- 2.2.1 Revolute Joint Modules
- 2.2.2 Prismatic Joint Modules
- 2.3 Link Modules
- 3 Modular Robot Representation
- 3.1 Graphs
- 3.1.1 Basic Graph Definitions
- 3.1.2 Matrix Representation of Graphs
- 3.2 Kinematic Graphs
- 3.3 Re-classification of Links and Joints
- 3.4 Assembly Incidence Matrix
- 4 Modular Serial Robot Kinematics
- 4.1 Introduction
- 4.2 Geometric Background and the POE Formula
- 4.2.1 Geometric Background
- 4.2.2 The POE Formula
- 4.3 Forward Kinematics
- 4.3.1 Dyad Kinematics
- 4.3.2 Forward Kinematics for a Tree-Structured Modular Robot
- 4.4 Inverse Kinematics
- 4.4.1 Differential Kinematics Model for a Single Branch
- 4.4.2 Differential Kinematics Model for a Tree-Structured Robot
- 4.4.3 Computation Examples
- 4.4.4 Remarks on Computation Results
- 5 Kinematic Calibration for Modular Serial Robots
- 5.1 Introduction
- 5.2 Kinematic Calibration Models
- 5.2.1 Basic Calibration Models
- 5.2.2 An Iterative Least-Squares Algorithm
- 5.2.3 Kinematic Calibration of Tree-structured Robots
- 5.3 Computation Examples
- 5.3.1 Calibration of a three-module Robot
- 5.3.2 Calibration of a SCARA Type Robot
- 5.3.3 Calibration of a Tree-structured Robot
- 6 Modular Serial Robot Dynamics
- 6.1 Introduction
- 6.2 Newton-Euler Equation for a Link Assembly
- 6.3 Dynamic Formulation for a Tree-Structured Modular Robot
- 6.3.1 Recursive Newton-Euler Algorithm
- 6.3.2 Closed Form Equations of Motion
- 6.3.3 Remarks on the Dynamics Algorithms
- 6.3.4 Implementation and Examples
- 6.4 Inverse and Forward Dynamics Problem
- 6.4.1 Inverse Dynamics
- 6.4.2 Forward Dynamics
- 7 Optimization of Modular Serial Robot Configurations
- 7.1 Introduction
- 7.2 General Design Methodology
- 7.3 Optimization Model
- 7.3.1 Definition of Robot Tasks
- 7.3.2 Design Parameters and the Search Space
- 7.3.3 Objective Function
- 7.3.4 Performance Constraints
- 7.4 Evolutionary Algorithm
- 7.4.1 Coding Scheme
- 7.4.2 AIM Generating Scheme
- 7.4.3 Genetic Operators on AIMs
- 7.4.4 Implementation of the Evolutionary Algorithm
- 7.5 Computation Examples
- 8 Modular Parallel Robot Kinematics
- 8.1 Introduction
- 8.2 Displacement Analysis
- 8.2.1 Forward Displacement Analysis
- 8.2.2 Inverse Displacement Analysis
- 8.3 Instantaneous Kinematics Analysis
- 8.3.1 Forward Instantaneous Kinematics Analysis
- 8.3.2 Inverse Instantaneous Kinematics Analysis
- 8.4 Singularity Analysis
- 8.4.1 Forward Singularity
- 8.4.2 Inverse Singularity
- 8.4.3 Combined Singularity
- 8.5 Workspace Analysis
- 8.5.1 Numerical Orientation Workspace Analysis
- 8.5.2 Finite Partition Schemes
- 9 Kinematic Calibration for Modular Parallel Robots.