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Tetrobot - A Modular Approach to Reconfigurable Parallel Robotics (Paperback, Softcover reprint of the original 1st ed. 1998)
Loot Price: R3,986
Discovery Miles 39 860
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Tetrobot - A Modular Approach to Reconfigurable Parallel Robotics (Paperback, Softcover reprint of the original 1st ed. 1998)
Series: The Springer International Series in Engineering and Computer Science, 423
Expected to ship within 18 - 22 working days
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Robotic systems are characterized by the intersection of computer
intelligence with the physical world. This blend of physical
reasoning and computational intelligence is well illustrated by the
Tetrobot study described in this book. Tetrobot: A Modular Approach
to Reconfigurable Parallel Robotics describes a new approach to the
design of robotic systems. The Tetrobot approach utilizes modular
components which may be reconfigured into many different mechanisms
which are suited to different applications. The Tetrobot system
includes two unique contributions: a new mechanism (a multilink
spherical joint design), and a new control architecture based on
propagation of kinematic solutions through the structure. The
resulting Tetrobot system consists of fundamental components which
may be mechanically reassembled into any modular configuration, and
the control architecture will provide position control of the
resulting structure. A prototype Tetrobot system has been built and
evaluated experimentally. Tetrobot arms, platforms, and walking
machines have been built and controlled in a variety of motion and
loading conditions. The Tetrobot system has applications in a
variety of domains where reconfiguration, flexibility, load
capacity, and failure recovery are important aspects of the task. A
number of key research directions have been opened by the Tetrobot
research activities. Continuing topics of interest include:
development of a more distributed implementation of the computer
control architecture, analysis of the dynamics of the Tetrobot
system motion for improved control of high-speed motions,
integration of sensor systems to control the motion and shape of
the high-dimensionality systems, and exploration of
self-reconfiguration of the system. Tetrobot: A Modular Approach to
Reconfigurable Parallel Robotics will be of interest to research
workers, specialists and professionals in the areas of robotics,
mechanical systems and computer engineering.
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