Robot motion and control : recent developments

著者

書誌事項

Robot motion and control : recent developments

Krzysztof Kozłowski (ed.)

（Lecture notes in control and information sciences, 335, 360, 396, 422）

Springer, c2006-

  • [2004] : [pbk.]
  • 2007 : [pbk.]
  • 2009 : [pbk.]
  • 2011 : [pbk.]

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注記

2007- lack subtitle

Original works have been selected out of some papers submitted to the International Workshop on Robot Motion and Conrol (RoMoCo)

Imprint varies: 2009: Berlin : Springer

Includes bibliographical references and indexes

内容説明・目次

巻冊次

2011 : [pbk.] ISBN 9781447123422

内容説明

Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. New control algorithms for industrial robots, nonholonomic systems and legged robots. Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.

目次

Part I: Control of Nonholonomic Systems.- Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs.- Identification of a UAV Model for Control.- Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input.- Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation.- Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyuapunov Analysis.- Trajectory Tracking for Formation of Mobile Robots.- Part II New Control Algorithms for Robot Manipulators.- Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam.- Application of the Return Method to the Steering of Nonlinear Systems.- Application of Robust Fixed Point Transformations for Technological Operation of Robots.- Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems.- Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications.- Combinatorial Control Systems.- Computational Algebra Support for the Chen-Fleiss-Sussmann Differential Equation.- Part III: Control of Walking Robots.- Biologically Inspired Motor Control for Underactuated Robots - Trends and Challenges.- Adaptation of a Six-legged Walking Robots to Its Local Environment.- Development of Two-legged Robots.- Quadruped Walking Robot WR-06 - Design, Control and Sensor Subsystems.- Population-based Methods for Identification and Optimization of a Walking Robot Model.- Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot.- Part IV: Compliant Motion and Manipulation.- Human-Aware Interaction Control of Robot Manipulators Based on Force and Vision.- Specification of Multi-robot Controllers on an Example of a Haptic Device.- Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators.- Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robots Hands.- Compliant Motion Control for Safe Human Robot Interaction.- Part V: Trajectory Planning Issues for Nonholonomic Systems.- Nonholonomic Motion Planning of Mobile Robots.- Minimum-Time Velocity Planning with Arbitrary Boundary Conditions.- Motion Planning for Highly Constrained Spaces.- RRT-path - A Guided Rapidly Explored Random Tree.- Part VI: New Trends in Localization Methods.- Position Estimation Techniques for Mobile Robots.- Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry.- Observable Formulation SLAM Implementation.- Estimation of Velocity Components Using Optical Flow and Inner Product.- Part VII: Sensors and New Challenges in Design of Modular Robots.- Acoustic Coupling on the Robot Motion and Control.- Design of a Planar High Precision Motion Stage.- Hexa Platform as Active Environment System.- A Modular Concept for a Biologically Inspired Robot.- Control System for Designed Mobile Robot - Project, Implementation and Tests.- Team of Specialized Mobile Robots for Group Inspection of Large-Area Technical Objects.- Part VIII: Applications of Robotic Systems.- Muscle Text and Excersise System for Upper Limbs Using 3D Force Display Robots.- Test on Cardiosurgical Robot RobIn Heart 3.- Ankle Robot for People with Drop Foot - Case Study.- Evolution of a Useful Autonomous System.- Obstacle Handling of the Holonomic-driven Interactive Behaviour-operated Shopping Trolley InBot.
巻冊次

[2004] : [pbk.] ISBN 9781846284045

内容説明

This book presents recent results in robot motion and control. Twenty papers presented at the Fourth International Workshop on Robot Motion and Control held in 2004 have been expanded. The authors of these papers were carefully selected and represent leading institutions in this field. The book covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, topics not covered in previous books.

目次

Part I: Control and Trajectory Planning of Nonholonomic Systems.- Trajectory Tracking for Nonholonomic Vehicles.- Posture Stabilization of a Unicycle Mobile Robot - Two Control Approaches.- Trajectory Tracking Control for Nonholonomic Mobile Manipulators.- Bases for Local Nonholonomic Motion Planning.- On Drift Neutralization of Stratified Systems.- Part II: Control and Mechanical Systems.- Novel Adaptive Control of Partially Modeled Dynamic Systems.- Example Applications of Fuzzy Reasoning and Neural Networks in Robot Control.- Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path.- Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs.- Flexible Robot Trajectory Tracking Control.- Modeling, Motion Planning and Control of the Drones with Revolving Aerofoils: an Outline of the XSF Project.- Part III: Climbing and Walking Robots.- Absolute Orientation Estimation for Observer-based Control of a Five-link Walking Biped Robot.- Biologically Inspired Motion Planning in Robotics.- Control of an Autonomous Climbing Robot.- Computation of Optimum Consumption of Energy for Anthropomorphic Robot Driven by Electric Motor.- Pat IV: Multi-agent Systems and Localization Methods.- Real-Time Motion Planning and Control in the 2005 Cornell RoboCup Program.- Transition-Function Based Approach to Structuring Robot Control Software.- Steps Towards Derandomizing RRTs.- Tracking Methods for Relative Localisation.- Robot Localisation Methods Using the Laser Scanners.- Part V: Applications of Robotic Systems.- Complex Control Systems: Example Applications.- Examples of Transillumination Techniques Used in Medical Measurements and Imaging.- Telerobotic Simulator in Minimally Invasive Surgery.- Human-Robot Interaction and Robot Control.- On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics.
巻冊次

2007 : [pbk.] ISBN 9781846289736

内容説明

Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field.

目次

Part I: Control of Nonholonomic Systems.- Modelling and Trajectory Generation of Lighter-than-air Aerial Robots.- Control of 3 DOF Quadrotor Model.- Internal-model-control-based Adaptive Attitude Tracking.- Tracking Control of Automated Guided Vehicles.- VFO Control for Mobile Vehicles in the Presence of Skid Phenomenon.- Part II: Vision-based Control.- Vision-based Dynamic Velocity Field Generation for Mobile Robots.- Zoom Control to Compensate Camera Translation within a Robot Egomotion Estimation Approach.- Two-finger Grasping for Vision Assisted Object Manipulation.- Trajectory Planning with Control Horizon Based on Narrow Local Occupancy Grid Perception.- Part III: New Control Algorithms for Robot Manipulators.- Control for a Three-joint Underactuated Planar Manipulator: Interconnection and Damping Assignment Passivity-based Control Approach.- A New Control Algorithm for Manipulators with Joint Flexibility.- An Inverse Dynamics-based Discrete-time Sliding-mode Controller for Robot Manipulators.- Velocity Tracking Controller for Rigid Manipulators.- Fixed-point-transformations-based Approach in Adaptive Control of Smooth Systems.- Driving Redundant Robots by a Dedicated Clutch-based Actuator.- An Energy-based Approach Towards Modeling of Mixed-reality Mechatronic Systems.- Part IV: New Trends in Kinematics and Localization Methods.- Navigation of Autonomous Mobile Robots.- Kinematic Motion Patterns of Mobile Manipulators.- Generalized Kinematic Control of Redundant Manipulators.- Parametric Representation of the Environment of a Mobile Robot for Measurement Update in a Particle Filter.- Simulation of a Mobile Robot with an LRF in a 2D Environment and Map Building.- Part V: Trajectory Planning Issues for Nonholonomic Systems.- Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment.- Computationally Efficient Path Planning for Wheeled Mobile Robots in Obstacle-dense Environments.- Piecewise-constant Controls for Newtonian Nonholonomic Motion Planning.- Path Following for Nonholonomic Mobile Manipulators.- Part VI: Rehabilitation Robotics.- On Simulator Design of the Spherical Therapeutic Robot Koala.- Development of Rehabilitation Training Support System Using 3D Force Display Robot.- Applying CORBA Technology for the Teleoperation of Wheeler.- Part VII: Humanoid Robots.- Educational Walking Robots.- Humanoid Binaural Sound Tracking Using Kalman Filtering and HRTFs.- Mechatronics of the Humanoid Robot ROMAN.- Part VIII: Applications of Robotics Systems.- Assistive Feeding Device for Physically Handicapped Using Feedback Control.-Design and Control of a Heating-pipe-duct-inspection Mobile Robot.- Measurement and Navigation System of the Inspection Robot RK-13.- Architecture of Multi-segmented Inspection Robot KAIRO-II.- The Project of an Autonomous Robot Capable to Cooperate in a Group.- End-effector Sensors' Role in Service Robots.- Part IX: Multiagent Systems.- Detecting Intruders in Complex Environments with Limited-range Mobile Sensors.- High-level Motion Control for Workspace-sharing Mobile Robots.- Urban Traffic Control and Path Planning for Vehicles in Game-theoretic Framework.- A Low-cost High-precision Time Measurement Infrastructure for Embedded Mobile Systems.
巻冊次

2009 : [pbk.] ISBN 9781848829848

内容説明

Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.

目次

Part I: Control of Nonholonomic Systems.- Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs.- Identification of a UAV Model for Control.- Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input.- Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator using Polar-like Coordinate Representation.- Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis.- Trajectory Tracking for Formation of Mobile Robots.- Part II: New Control Algorithms for Robot Manipulators.- Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam.- Application of the Return Method to the Steering of Nonlinear Systems.- Application of Robust Fixed Point Transformations for Technological Operation of Robots.- Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems.- Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications.- Combinatorial Control Systems.- Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation.- Part III: Control of Walking Robots.- Biologically Inspired Motor Control for Underactuated Robots - Trends and Challenges.- Adaptation of a Six-legged Walking Robot to Its Local Environment.- Development of Two-legged Robot.- Quadruped Walking Robot WR-06 - Design, Control and Sensor Subsystems.- Population-based Methods for Identification and Optimization of a Walking Robot Model.- Static Equilibrium Condition for a Multi-leg, Stairs Climbing Walking Robot.- Part IV: Compliant Motion and Manipulation.- Human-aware Interaction Control of Robot Manipulators Based on Force and Vision.- Specification of Multi-robot Controllers on an Example of a Haptic Device.- Characterization of the Dynamical Model of a Force Sensor for Robot Manipulators.- Inverse Kinematics for Object Manipulation with RedundantMulti-fingered Robotic Hands.- Compliant Motion Control for Safe Human Robot Interaction.- Part V: Trajectory Planning Issues for Nonholonomic Systems.- Nonholonomic Motion Planning of Mobile Robots.- Minimum-time Velocity Planning with Arbitrary Boundary Conditions.- Motion Planning for Highly Constrained Spaces.- RRT-Path - A Guided Rapidly Exploring Random Tree.- Part VI: New Trends in Localization Methods.- Position Estimation Techniques for Mobile Robots.- Particle Filtering with Range Data Association for Mobile Robot Localization in Environments with Repetitive Geometry.- Observable Formulation SLAM Implementation.- Estimation of Velocity Components using Optical Flow and Inner Product.- Part VII: Sensors and New Challenges in Design of Modular Robots.- Acoustic Coupling on the Robot Motion and Control.- Design of a Planar High Precision Motion Stage.- Hexa Platform as Active Environment System.- A Modular Concept for a Biologically Inspired Robot.- Control System for Designed Mobile Robot - Project, Implementation, and Tests.- Team of Specialized Mobile Robots for Group Inspection of Large-area Technical Objects.- Part VIII: Applications of Robotic Systems.- Muscle Test and Exercise System for Upper Limbs Using 3D Force Display Robot.- Tests on Cardiosurgical Robot RobIn Heart 3.- Ankle Robot for People with Drop Foot - Case Study.- Evolution of a Useful Autonomous System.- Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT.

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