Luigi Villani – författare
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14 produkter
14 produkter
Del 540 - Springer International Series in Engineering and Computer Science
Robot Force Control
Inbunden, Engelska, 2000
1 620 kr
Skickas inom 10-15 vardagar
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Del 540 - Springer International Series in Engineering and Computer Science
Robot Force Control
Häftad, Engelska, 2013
1 620 kr
Skickas inom 10-15 vardagar
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
E-bok
PDF, Engelska, 20121 977 kr
Läs direkt efter köp
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator''s end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Inbunden, Engelska, 2008
1 082 kr
Skickas inom 10-15 vardagar
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained.The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors.To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
E-bok
PDF, Engelska, 20081 069 kr
Läs direkt efter köp
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained.
The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors.
To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Häftad, Engelska, 2010
867 kr
Skickas inom 10-15 vardagar
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained.The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors.To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Del 148 - Springer Tracts in Advanced Robotics
Robotics for Intralogistics in Supermarkets and Retail Stores
Inbunden, Engelska, 2022
1 082 kr
Skickas inom 10-15 vardagar
This book aims at sharing knowledge about the technological opportunities and the main research challenges regarding robotics for logistics in supermarkets and retail stores, from the perspectives of the end-users, logistic companies, technology providers, and robotic researchers. The authors have been involved into the H2020 project Robotics Enabling Fully Integrated Logistics Lines for Supermarkets (REFILLS), aimed at improving logistics in supermarkets thanks to mobile robotic systems in close and smart collaboration with humans. The readers will find a comprehensive analysis of the main logistic processes in retail stores with possible robotized solutions, involving mechanical design, perception, and control. These technologies have been validated in realistic environments, and some of them have been tested into real supermarkets. The book is intended for a broad academic and industrial readership, including operators in the field of logistics, distribution, and retail.
E-bok
PDF, Engelska, 20221 416 kr
Läs direkt efter köp
This book aims at sharing knowledge about the technological opportunities and the main research challenges regarding robotics for logistics in supermarkets and retail stores, from the perspectives of the end-users, logistic companies, technology providers, and robotic researchers. The authors have been involved into the H2020 project Robotics Enabling Fully Integrated Logistics Lines for Supermarkets (REFILLS), aimed at improving logistics in supermarkets thanks to mobile robotic systems in close and smart collaboration with humans. The readers will find a comprehensive analysis of the main logistic processes in retail stores with possible robotized solutions, involving mechanical design, perception, and control. These technologies have been validated in realistic environments, and some of them have been tested into real supermarkets. The book is intended for a broad academic and industrial readership, including operators in the field of logistics, distribution, and retail.
Del 148 - Springer Tracts in Advanced Robotics
Robotics for Intralogistics in Supermarkets and Retail Stores
Häftad, Engelska, 2023
1 082 kr
Skickas inom 10-15 vardagar
This book aims at sharing knowledge about the technological opportunities and the main research challenges regarding robotics for logistics in supermarkets and retail stores, from the perspectives of the end-users, logistic companies, technology providers, and robotic researchers. The authors have been involved into the H2020 project Robotics Enabling Fully Integrated Logistics Lines for Supermarkets (REFILLS), aimed at improving logistics in supermarkets thanks to mobile robotic systems in close and smart collaboration with humans. The readers will find a comprehensive analysis of the main logistic processes in retail stores with possible robotized solutions, involving mechanical design, perception, and control. These technologies have been validated in realistic environments, and some of them have been tested into real supermarkets. The book is intended for a broad academic and industrial readership, including operators in the field of logistics, distribution, and retail.
Inbunden, Engelska, 2025
1 297 kr
Skickas inom 10-15 vardagar
This textbook explores the foundational principles of robotics, focusing on its core pillars: modeling, planning, and control. Balancing mathematical rigor and physical intuition, a coherent formalism is established and used throughout the book. At the same time, technological challenges and application-driven solutions are given appropriate consideration.With a general perspective that includes both fixed-base manipulators and mobile robots, the book presents the essential tools for understanding key topics such as kinematics, statics, trajectory planning, dynamics, and motion control. In its second part, more advanced topics are addressed, including wheeled robots, visual control, motion planning, force control, flexible robots and cooperative manipulation.To support the learning process, appendices provide essential background material on linear algebra, mechanics, differential geometry, control theory, and graph search algorithms. The practical implementation of the methodologies is emphasized throughout, with over 50 worked examples and case studies, many supported by simulations. Additionally, more than 190 end-of-chapter problems are included, with a Solutions Manual available for instructors adopting the book for their courses.Foundations of Robotics is designed for use as a textbook in both undergraduate and graduate robotics courses within engineering programs, making it an ideal resource for students and educators alike.A list of errata for this book can be found at https://drive.google.com/file/d/1dwZ6LvN4hf2lfE4CGft3HtCI54Ga6xq9
E-bok
Engelska, 20251 733 kr
Läs direkt efter köp
This textbook explores the foundational principles of robotics, focusing on its core pillars: modeling, planning, and control. Balancing mathematical rigor and physical intuition, a coherent formalism is established and used throughout the book. At the same time, technological challenges and application-driven solutions are given appropriate consideration.With a general perspective that includes both fixed-base manipulators and mobile robots, the book presents the essential tools for understanding key topics such as kinematics, statics, trajectory planning, dynamics, and motion control. In its second part, more advanced topics are addressed, including wheeled robots, visual control, motion planning, force control, flexible robots and cooperative manipulation.To support the learning process, appendices provide essential background material on linear algebra, mechanics, differential geometry, control theory, and graph search algorithms. The practical implementation of the methodologies is emphasized throughout, with over 50 worked examples and case studies, many supported by simulations. Additionally, more than 190 end-of-chapter problems are included, with a Solutions Manual available for instructors adopting the book for their courses.Foundations of Robotics is designed for use as a textbook in both undergraduate and graduate robotics courses within engineering programs, making it an ideal resource for students and educators alike.A list of errata for this book can be found at https://drive.google.com/file/d/1dwZ6LvN4hf2lfE4CGft3HtCI54Ga6xq9
Del 1 - Springer Tracts in Advanced Robotics
Fault Diagnosis and Fault Tolerance for Mechatronic Systems: Recent Advances
Inbunden, Engelska, 2002
1 082 kr
Skickas inom 10-15 vardagar
The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Fabrizio Caccavale and Luigi Villani concerns with a wide subject of modern engineering, namely mechatronics. This new discipline has lately been receiving an increasing deal of attention for its unique connotation to represent a blend of mechanical, electronic and information technologies. In such a scenario, the importance of providing the supervisory control system with fault detection and fault identification capabilities becomes crucial to the effective development of mechatronic systems.
E-bok
PDF, Engelska, 20031 367 kr
Läs direkt efter köp
The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Fabrizio Caccavale and Luigi Villani concerns with a wide subject of modern engineering, namely mechatronics. This new discipline has lately been receiving an increasing deal of attention for its unique connotation to represent a blend of mechanical, electronic and information technologies. In such a scenario, the importance of providing the supervisory control system with fault detection and fault identification capabilities becomes crucial to the effective development of mechatronic systems.
Häftad, Engelska, 2010
1 082 kr
Skickas inom 10-15 vardagar
The field of robotics continues to flourish and develop. In common with general scientific investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scientific or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the fields of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Fabrizio Caccavale and Luigi Villani concerns with a wide subject of modern engineering, namely mechatronics. This new discipline has lately been receiving an increasing deal of attention for its unique connotation to represent a blend of mechanical, electronic and information technologies. In such a scenario, the importance of providing the supervisory control system with fault detection and fault identification capabilities becomes crucial to the effective development of mechatronic systems.