New developments and advances in robot control. (2019)

• Record Type: Book
• Further Information: Note: Editors, Nabil Derbel, Jawhar Ghommam and Quanmin Zhu.
• Editors: Derbel, Nabil; Ghommam, Jawhar; Zhu, Quanmin
• Contents: Intro; Preface; Contents; 1 Cloud Robotic: Opening a New Road to the Industry 4.0; 1.1 Introduction; 1.2 Literature Review; 1.3 From Cloud Computing to Cloud Robotics; 1.3.1 Cloud Computing; 1.3.1.1 Cloud Computing Deployment Models; 1.3.1.2 Cloud Computing Service Categories; 1.3.1.3 Cloud Architecture; 1.3.1.4 Service Level Agreement; 1.3.2 Cloud Robotics; 1.3.2.1 Definition; 1.3.2.2 Robots Classification; 1.3.2.3 Benefits and Risks; 1.3.3 Applications by Domain; 1.3.4 Case Study Example; 1.4 Cloud Robotics and Industry 4.0; 1.4.1 Industry 4.0; 1.4.2 Robot in Industry 4.0 1.4.3 Expectations Regarding Industry 4.01.5 Conclusion; References; 2 42D Visual Servoing Approach for Advanced RobotApplications; 2.1 Introduction; 2.2 Related Work and Motivation; 2.3 Concept of 42D Visual Servoing Approach; 2.4 Transformations in 42D Visual Servoing Approach; 2.4.1 Relative Position Between Visible Side and Camera Coordinate Systems; 2.5 Relative Orientation Between Visible Side and Camera Coordinate Systems; 2.5.1 Object's Orientation in Image Plane; 2.5.2 Object's Orientation in the 3D Image Space; 2.6 Control Error of 42D Visual Servoing Approach; 2.7 Conclusions 3.3.2.2 Adopted Solutions3.3.2.3 Anti-windup Strategy; 3.3.3 Proposed Control Solution for ARROW PKM; 3.4 Motion Generation; 3.4.1 Spline Description; 3.4.2 Spline Re-sampling During Constant Velocity Phase; 3.4.3 Acceleration and Deceleration Phases; 3.5 Real-Time Experiments; 3.5.1 Experimental Testbed of the ARROW Robot; 3.5.2 Experimental Results; 3.6 Conclusions and Future Work; References; 4 Cable-Driven Parallel Robot Modelling for Rehabilitation Use; 4.1 Introduction; 4.2 Modeling Robot; 4.2.1 First Configuration; 4.2.2 Second Configuration; 4.3 Human Lower Limb Considerations 4.3.1 Modeling Hypothesis4.3.2 Anthropometric Parameters; 4.3.3 Range of Motion; 4.3.4 Comfort Zone; 4.4 Kinematic Analysis of CDRR; 4.4.1 Forward Kinematic Analysis; 4.4.2 Feasible Workspace; 4.4.3 Proposed Optimization Approach; 4.4.3.1 Problem Formulation; 4.4.3.2 Design Variables; 4.4.3.3 Constraints; 4.4.3.4 Cost Function; 4.4.3.5 Constrained Optimization Model; 4.4.4 Proposed Optimal Solution; 4.4.5 Trajectory Generation; 4.5 Simulation Results and Discussion; 4.6 Conclusion; References; 5 Control of Robot Manipulators Using Modified Backstepping Sliding Mode; 5.1 Introduction
• Publisher Details: Singapore : Springer
• Publication Date: 2019
• Extent: 1 online resource
• Subjects: 629.892; Robots -- Control systems; TECHNOLOGY & ENGINEERING / Engineering (General); Robots -- Control systems; Electronic books
• Languages: English
• ISBNs: 9789811322129; 9811322120
• Related ISBNs: 9789811322112; 9811322112
• Notes: Note: Online resource; title from PDF title page (EBSCO, viewed January 31, 2019)
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.