By Junku Yuh
“Autonomous manipulation” is a problem in robot applied sciences. It refers back to the potential of a cellular robotic procedure with a number of manipulators that plays intervention projects requiring actual contacts in unstructured environments and with out non-stop human supervision. attaining self sufficient manipulation strength is a quantum bounce in robot applied sciences because it is presently past the cutting-edge in robotics.
This e-book addresses matters with the complexity of the issues encountered in self reliant manipulation together with illustration and modeling of robot buildings, kinematic and dynamic robot keep an eye on, kinematic and algorithmic singularity avoidance, dynamic job precedence, workspace optimization and setting conception. additional improvement in independent manipulation could be capable of supply strong advancements of the suggestions for all the above concerns. The ebook presents an in depth tract on sensory-based self sustaining manipulation for intervention initiatives in unstructured environments. After offering the theoretical foundations for kinematic and dynamic modelling in addition to task-priority established kinematic keep watch over of multi-body platforms, the paintings is targeted on some of the most complicated underwater vehicle-manipulator approach, SAUVIM (Semi-Autonomous Underwater automobile for Intervention Missions). strategies to the matter of objective id and localization are proposed, a few major case stories are mentioned and useful examples an
d experimental/simulation effects are offered. The booklet could motivate the robotic learn neighborhood to extra examine severe matters in self reliant manipulation and to advance robotic platforms which may profoundly influence our society for the better.
Read or Download Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM (Springer Tracts in Advanced Robotics) PDF
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