Advanced Strategies for Robot Manipulators

Advanced Strategies for Robot Manipulators edited by Seyed Ehsan Shafiei SCIYO Advanced Strategies for Robot Manipulators Edited by Seyed Ehsan Shafiei Published by Sciyo Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2010 Sciyo All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by Sciyo, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Jelena Marusic Technical Editor Teodora Smiljanic Cover Designer Martina Sirotic Image Copyright higyou, 2010. Used under license from Shutterstock.com First published September 2010 Printed in India A free online edition of this book is available at www.sciyo.com Additional hard copies can be obtained from publication@sciyo.com Advanced Strategies for Robot Manipulators, Edited by Seyed Ehsan Shafi ei p. cm. ISBN 978-953-307-099-5 SCIYO.COM WHERE KNOWLEDGE IS FREE free online editions of Sciyo Books, Journals and Videos can be found at www.sciyo.com Contents Preface IX Chapter 1 Chapter 2 Chapter 3 The Comparative Assessment of Modelling and Control of Mechanical Manipulator 1 M. H. Korayem, H. N. Rahimi and A. Nikoobin Hyper Redundant Manipulators 27 Ivanescu Mircea and Cojocaru Dorian Micro-Manipulator for Neurosurgical Application 61 M. R. Arshad and Ya’akob Yusof Chapter 4 DeLiA: A New Family of Redundant Robot Manipulators 73 Jaime Gallardo–Alvarado Chapter 5 Chapter 6 Chapter 7 Dynamic Modelling, Tracking Control and Simulation Results of a Novel Underactuated Wheeled Manipulator (WAcrobot) 91 Mohsen Moradi Dalvand and Bijan Shirinzadeh Kinematics Synthesis of a New Generation of Rapid Linear Actuators for High Velocity Robotics with Improved Performance Based on Parallel Architecture 107 Luc Rolland Sliding Mode Control of Robot Manipulators via Intelligent Approaches 135 Seyed Ehsan Shafiei Chapter 8 Chapter 9 Chapter 10 Supervision and Control Strategies of a 6 DOF Parallel Manipulator Using a Mechatronic Approach 173 FJoão Mauricio Rosário, Didier Dumur, Mariana Moretti, Fabian Lara and Alvaro Uribe Collision Detection and Control of Parallel-Structured Flexible Manipulators Based on Unscented Kalman Filter 197 Yuichi Sawada, YusukeWatanabe and Junki Kondo On Saturated PID Controllers for Industrial Robots: The PA10 Robot Arm as Case of Study 217 Jorge Orrante-Sakanassi, Víctor Santibáñez and Ricardo Campa ... - tailieumienphi.vn