Robot Manipulators

Robot Manipulators

In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames.

Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.


  • Experimental Results on Variable Structure Control for an Uncertain Robot Model
  • Unit Quaternions: A Mathematical Tool for Modeling, Path Planning and Control of Robot Manipulators
  • Kinematic Design of Manipulators
  • Gentle Robotic Handling Using Acceleration Compensation
  • Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy
  • Control of Robotic Systems Undergoing a Non-Contact to Contact Transition
  • Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control
  • Experimental Control of Flexible Robot Manipulators
  • Improvement of Force Control in Robotic Manipulators Using Sensor Fusion Techniques
  • Adaptive Neural Network Based Fuzzy Sliding Mode Control of Robot Manipulator
  • Impedance Control of Flexible Robot Manipulators
  • Simple Effective Control for Robot Manipulators with Friction
  • On Transpose Jacobian Control for Monocular Fixed-Camera 3D Direct Visual Servoing
  • Novel Framework of Robot Force Control Using Reinforcement Learning
  • Link Mass Optimization Using Genetic Algorithms for Industrial Robot Manipulators
  • FPGA-Realization of a Motion Control IC for Robot Manipulator
  • Experimental Identification of the Inverse Dynamic Model: Minimal Encoder Resolution Needed Application to an Industrial Robot Arm and a Haptic Interface
  • Towards Simulation of Custom Industrial Robots
  • Design and Simulation of Robot Manipulators Using a Modular Hardware-in-the-loop Platform
  • Soft-Computing Techniques for the Trajectory Planning of Multi-Robot Manipulator Systems
  • Robot Control Using On-Line Modification of Reference Trajectories
  • Motion Behavior of Null Space in Redundant Robotic Manipulators
  • Paddle Juggling by Robot Manipulator with Visual Servo
  • An Industrial Robot as Part of an Automatic System for Geometric Reverse Engineering
  • Sensing Planning of Calibration Measurements for Intelligent Robots
  • Robot Programming in Machining Operations
  • Dynamic Visual Servoing with an Uncalibrated Eye-in-Hand Camera
  • Vision-Guided Robot Control for 3D Object Recognition and Manipulation

Book Details

Author(s): Marco Ceccarelli
Publisher: InTech
Format(s): PDF
File size: 51.37 MB
Number of pages: 546
Link: Download.

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