Numerical Modelling In Robotics

Modern robotic systems are tied to operate autonomously in real-world environments performing a variety of complex tasks. Autonomous robots must rely on fundamental capabilities such as locomotion, trajectory tracking control, multi-sensor fusion, task/path planning, navigation, and real-time perception. Combining this knowledge is essential to design rolling, walking, aquatic, and hovering robots that sense and self-control. This book contains a mathematical modelling framework to support the learning of modern robotics and mechatronics, aimed at advanced undergraduates or first-year PhD students, as well as researchers and practitioners. The volume exposes a solid understanding of mathematical methods as a common modelling framework to properly interpret advanced robotic systems. Including numerical approximations, solution of linear and non-linear systems of equations, curves fitting, differentiation and integration of functions. The book is suitable for courses on robotics, mechatronics, sensing models, vehicles design and control, modelling, simulation, and mechanisms analysis. It is organised with 17 chapters divided in five parts that conceptualise classical mechanics to model a wide variety of applied robotics. It comprehends a hover-craft, an amphibious hexapod, self-reconfiguration and under-actuation of rolling and passive walking robots with Hoekens, Klann, and Jansen limbs for bipedal, quadruped, and octapod robots.

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Modeling and Control of Vehicular and Robotic Systems provides a comprehensive coverage of mathematical modeling and model-based control of autonomous vehicular and robotic systems based on three broad application areas, namely, rigid robot systems (with special emphasis on active vision heads, which are rare in contemporary literature), ground vehicles, and surface vehicles. Two main drawbacks of classical methods of model based controller synthesis and implementation, i.e. the need of an accurate knowledge of the dynamics that is a strong requirement in practice and velocity feedback of all degrees-of-freedom are thoroughly addressed. To overcome these deficiencies, design and implementation issues of online adaptive neural networks-based dynamic compensators and controller-observer systems have been included. The related issues of modeling, controller design, stability analysis, sensor requirements and options, and numerical simulations are also presented.

This book provides a step-by-step survey of the theory and applications of industrial robots. It includes case studies, numerical examples, and sample robot programs. Robot Modeling develops a mathematical model that is general in purpose and applicable to any robot.

This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.

Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level

This book presents theoretical modeling and numerical simulations applied to drive several applications towards Industrial Revolution 4.0 (IR 4.0). The topics discussed range from theoretical parts to extensive simulations involving many efficient algorithms as well as various statistical techniques. This book is suitable for postgraduate students, researchers as well as other scientists who are working in mathematics, statistics and numerical modeling and simulation.

The biennial Congress of the Italian Society of Oral Pathology and Medicine (SIPMO) is an International meeting dedicated to the growing diagnostic challenges in the oral pathology and medicine field. The III International and XV National edition will be a chance to discuss clinical conditions which are unusual, rare, or difficult to define. Many consolidated national and international research groups will be involved in the debate and discussion through special guest lecturers, academic dissertations, single clinical case presentations, posters, and degree thesis discussions. The SIPMO Congress took place from the 17th to the 19th of October 2019 in Bari (Italy), and the enclosed copy of Proceedings is a non-exhaustive collection of abstracts from the SIPMO 2019 contributions.