Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri,

By Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino

This monograph provides an up to date resource of data at the cutting-edge in complex regulate of articulated and cellular robots. It comprises suitable chosen difficulties facing improved actuation, movement making plans and regulate features for articulated robots, in addition to of sensory and self sustaining choice functions for cellular robots. the elemental suggestion at the back of the booklet is to supply a bigger neighborhood of robot researchers and builders with a competent resource of knowledge and leading edge functions within the box of regulate of cooperating and cellular robots. This e-book is the end result of the examine undertaking MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 by means of the Italian Ministry for schooling, collage and study. The thorough dialogue, rigorous remedy, and extensive span of the offered paintings display the numerous advances within the theoretical starting place and know-how foundation of the robotics box around the globe.

Show description

Read or Download Advances in Control of Articulated and Mobile Robots PDF

Best nonfiction_8 books

Selected Advances in Nanoelectronic Devices: Logic, Memory and RF

Nanoelectronics, as a real successor of microelectronics, is unquestionably a tremendous know-how boomer within the twenty first century. This has been proven by means of its numerous functions and in addition through its huge, immense capability to persuade all components of electronics, desktops, details know-how, aerospace protection, and patron items.

Interfaces, Quantum Wells, and Superlattices

The NATO complicated research Institute on "Interfaces, Quantum Wells and Superlattices" was once held from August sixteenth to twenty ninth, 1987, in Banff, Alberta, Canada. This quantity includes lots of the lectures that got on the Institute. some of the lectures had already been offered at an past assembly and seem as an alternative within the court cases of the NATO complicated research Institute on "Physics and functions of Quantum Wells and large lattices" held in Erice from April twenty first to may possibly 1st prior within the yr and released via Plenum Press.

The Making of Statisticians

Like many different scientists, i've got lengthy been drawn to heritage. I take pleasure in analyzing concerning the trivialities of its day-by-day unfolding: the coinage, foodstuff, outfits, video games, literature and behavior which symbolize a humans. i'm over excited by means of the large sweep of its significant occasions: the wars, famines, migrations, reforms, political swings and medical advances which form a society.

Economic Modelling in the OECD Countries

One of the 159 member international locations of the United countries association that are taken care of as state devices, whereas smaller international locations are grouped jointly in areas. The variety of equations used is nearly thirteen seven hundred, whereas the variety of software program steps for computation is nearly a hundred thousand. Computation, together with tabulation, can however be played very swiftly, and merely approximately 20 mins is needed to make forecasts from the current as much as the 12 months 2000.

Extra info for Advances in Control of Articulated and Mobile Robots

Sample text

46. N. C. Singer and W. P. Seering, “Preshaping command inputs to reduce system vibration,” ASME J. of Dynamic Systems, Measurements, and Control, vol. 112, pp. 76–82, 1990. 47. M. J. van Nieuwstadt and R. M. Murray, “Real-time trajectory generation for differentially flat systems,” Int. J. of Robust and Nonlinear Control, vol. 8, pp. 995–1020, 1998. 38 A. De Luca et al. 48. M. Vendittelli and G. Oriolo, “Stabilization of the general two-trailer system,” Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, pp.

Such that no zeros appear in the transfer function from the input torque to the defined output. As a matter of fact, this output is a flat output for the system and the planning problem is solved by fitting to this output a smooth interpolating polynomial between the start and final rest configurations. A solution technique for the rest-to-rest problem is not yet available in the case of a general multi-link flexible robot. However, if a flat output vector were found (if one exists), the generalization to the nonlinear setting would be immediate.

38, pp. 700–716, 1993. 36. G. Oriolo, A. De Luca, and M. Vendittelli, “WMR control via dynamic feedback linearization: Design, implementation and experimental validation,” IEEE Trans. on Control Systems Technology, vol. 10, pp. 835–852, 2002. 37. G. Oriolo and Y. Nakamura, “Control of mechanical systems with second-order nonholonomic constraints: Underactuated manipulators,” Proc. of 30th IEEE Conf. on Decision and Control, pp. 2398–2403, 1991. 38. G. Oriolo and M. Vendittelli, “Robust stabilization of the plate-ball manipulation system,” Proc.

Download PDF sample

Rated 4.74 of 5 – based on 27 votes