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Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Book Description

The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

Table of Contents

  1. Cover
  2. Title Page
  3. Copyright Page
  4. Editorial Advisory Board and List of Reviewers
    1. Associate Editors
    2. List of Reviewers
  5. Preface
  6. Chapter 1: Open Loop Force Control of Piezo-Actuated Stick-Slip Drives
    1. ABSTRACT
    2. INTRODUCTION
    3. METHOD
    4. RESULTS
    5. CONCLUSION
  7. Chapter 2: Optimal Robot Path Planning with Cellular Neural Network
    1. ABSTRACT
    2. INTRODUCTION
    3. RELATED WORK
    4. ORIGINALITY AND ANALOGY
    5. CNN MODEL FOR PATH PLANNING
    6. SIMULATION STUDIES AND DISCUSSIONS
    7. CONCLUSION
  8. Chapter 3: Impedance Control of a Spherical Parallel Platform
    1. ABSTRACT
    2. INTRODUCTION
    3. REPRESENTATION OF ORIENTATION
    4. ARCHITECTURE AND KINEMATICS OF THE ROBOT
    5. CONTROL ALGORITHM
    6. TEST RIG
    7. TEST RESULTS
    8. CONCLUSION
    9. APPENDIX
  9. Chapter 4: Stiffness Modeling and Analysis of Passive Four-Bar Parallelogram in Fully Compliant Parallel Positioning Stage
    1. ABSTRACT
    2. INTRODUCTION
    3. MECHANICAL DESIGN
    4. COMPLIANCE ANALYSIS OF THE PRECISION POSITIONING STAGE
    5. CONCLUSION
  10. Chapter 5: Computation of the Output Torque, Power and Work of the Driving Motor for a Redundant Parallel Manipulator
    1. ABSTRACT
    2. INTRODUCTION
    3. SYSTEM DESCRIPTION AND DYNAMIC MODEL
    4. COMPUTATIONS OF THE REQUIRED OUTPUT POWER AND WORK OF THE DRIVING MOTOR
    5. SIMULATION
    6. CONCLUSION
  11. Chapter 6: Random Weighting Estimation of One-Sided Confidence Intervals in Discrete Distributions
    1. ABSTRACT
    2. INTRODUCTION
    3. RANDOM WEIGHTING METHOD
    4. RANDOM WEIGHTING ESTIMATION OF ONE-SIDED CONFIDENCE INTERVALS
    5. COVERAGE PROBABILITY ANALYSIS
    6. EXPERIMENTAL ANALYSIS AND DISCUSSIONS
    7. CONCLUSION
  12. Chapter 7: Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. KINEMATICS FORMULATION
    4. 3. DYNAMIC MODEL OF ROVER BASED ON BOND GRAPH
    5. 4. SIMULATION AND ANIMATION RESULTS
    6. 5. A REDUCED MODEL BASED CONTROLLER FOR VELOCITY CONTROL
    7. CONCLUSION
  13. Chapter 8: Processing of 3D Unstructured Measurement Data for Reverse Engineering
    1. ABSTRACT
    2. INTRODUCTION
    3. METHOD DESCRIPTION
    4. TRANGULATION
    5. OPTIMIZATION OF 3D TRIANGULATION
    6. GENERATION OF STRUCTURED DATA
    7. IMPLEMENTATION AND RESULTS
    8. CONCLUSION
  14. Chapter 9: Modeling and Simulation of Digital Systems Using Bond Graphs
    1. ABSTRACT
    2. INTRODUCTION
    3. STRACTURE OF DIGITAL GATES
    4. MODELING GATES BY BOND GRAPH
    5. MODELING OF EXAMPLES OF LOGICAL CIRCUITS
    6. MODELING MECHATRONICS SYSTEMS COMPRISING LOGICAL CIRCUITS
    7. CONCLUSION
  15. Chapter 10: Modeling, Simulation and Motion Cues Visualization of a Six-DOF Motion Platform for Micro-Manipulations
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. DESIGN AND MODELING
    4. 3. SIMULATION MODEL
    5. 4. REAL-TIME SIMULATION
    6. CONCLUSION AND FUTURE WORK
  16. Chapter 11: Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. MODELING OF TWO LINK RIGID-FLEXIBLE SPACE ROBOT
    4. 3. BOND GRAPH MODELING
    5. 4. CONTROLLER DESIGN
    6. 5. SIMULATION AND RESULTS
    7. CONCLUSION
  17. Chapter 12: Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism
    1. ABSTRACT
    2. INTRODUCTION
    3. MODEL OF FLEXURE-BASED MICRO/NANO MANIPULATOR
    4. MODEL-BASED CONTROL, ROBUST MOTION TRACKING CONTROL METHODOLOGY
    5. MEASUREMENT ERROR ANALYSIS
    6. EXPERIMENTAL SETUP AND STUDY
    7. RESULT AND DISCUSSION
    8. CONCLUSION
  18. Chapter 13: Analysis and Implementation for a Walking Support System for Visually Impaired People
    1. ABSTRACT
    2. INTRODUCTION
    3. EXPERIMENTS FOR TERRAIN DETECTION AND DATA ANALYSES
    4. ALGORITHM AND HARDWARE DEVELOPMENT
    5. CONCLUSION
  19. Chapter 14: Which is Better?
    1. ABSTRACT
    2. INTRODUCTION
    3. MODELING AND STABILITY FACTORS
    4. RESULTS
    5. DISCUSSION
    6. SUMMARY
  20. Chapter 15: Design and Validation of Force Control Loops for a Parallel Manipulator
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. A SERIAL-PARALLEL MANIPULATOR AT LARM
    4. 3. PROPOSED CONTROL LOOPS
    5. 4. PROGRAMMING AND IMPLEMENTATION OF THE CONTROL LOOPS
    6. 5. RESULTS OF EXPERIMENTAL TESTS
    7. CONCLUSION
    8. APPENDIX A
    9. APPENDIX B
    10. APPENDIX C
  21. Chapter 16: High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error
    1. ABSTRACT
    2. INTRODUCTION
    3. MODELING OF THE MANIPULATOR
    4. DESIGN OF THE CONTROLLER
    5. ROBUST CONTROLLER ANALYSIS
    6. SIMULATION RESULTS AND DISCUSSION
    7. CONCLUSION
  22. Chapter 17: Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator
    1. ABSTRACT
    2. INTRODUCTION
    3. KINEMATICS
    4. DYNAMICS
    5. CONCLUSION
  23. Chapter 18: Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots
    1. ABSTRACT
    2. INTRODUCTION
    3. KINEMATIC MODELING
    4. ISOTROPIC CONFIGURATION
    5. ISOTROPIC POSTURES OF THE MECHANISMS
    6. CONCLUSION
  24. Chapter 19: Experimental Investigations on the Contour Generation of a Reconfigurable Stewart Platform
    1. ABSTRACT
    2. 1. INTRODUCTION
    3. 2. RECONFIGURATION
    4. 3. EXPERIMENTAL TEST-RIG
    5. 4. METHODOLOGY ADOPTED AND DISCUSSIONS
    6. CONCLUSION
  25. Chapter 20: Parallel Architecture Manipulators for Use in Masticatory Studies
    1. ABSTRACT
    2. INTRODUCTION
    3. LITERATURE REVIEW
    4. MATH BACKGROUND
    5. RESULTS
    6. DISCUSSION
  26. Compilation of References
  27. About the Contributors