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

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

This monograph offers an up-to-date resource of knowledge at the cutting-edge in complex keep watch over of articulated and cellular robots. It comprises correct chosen difficulties facing more suitable actuation, movement making plans and keep an eye on features for articulated robots, in addition to of sensory and independent choice services for cellular robots. the elemental inspiration in the back of the publication is to supply a bigger neighborhood of robot researchers and builders with a competent resource of data and cutting edge functions within the box of regulate of cooperating and cellular robots. This publication is the 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, college and study. The thorough dialogue, rigorous therapy, and extensive span of the offered paintings show the numerous advances within the theoretical beginning and expertise foundation of the robotics box world wide.

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Iannitti, and G. Oriolo, “Stabilization of a PR planar underactuated robot,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, pp. 2090–2095, 2001. 14. A. De Luca and P. Lucibello, “A general algorithm for dynamic feedback linearization of robots with elastic joints,” Proc. of 1998 IEEE Int. Conf on Robotics and Automation, pp. 504–510, 1998. 15. A. De Luca, R. Mattone, and G. Oriolo, “Stabilization of an underactuated planar 2R manipulator,” Int. J. on Robust and Nonlinear Control, vol.

Evolution of x1,y1,theta1 2 evolution of phi1,phi2 3 Fig. 9. Simulation 2: Evolution of x1 , y1 and θ1 (left). Evolution of φ1 and φ2 (right). 5 2 -3 -3 -2 -1 0 1 2 3 Fig. 10. Simulation 2: Motion of the first trailer (left). Configuration of the vehicle at the beginning of phase II (0) after one iteration (1) and after 15 iterations (right). 4 Planning for Flat Dynamic Systems We present two representative case studies of robots with underactuated dynamics for which one can define, under special assumptions, a flat output so that the planning problem can be solved in a relatively easy way.

452–457, 1995. 7. J. Book, “Modeling, design, and control of flexible manipulator arms: A tutorial review,” Proc. of 29th IEEE Conf. on Decision and Control, pp. 500–506, 1990. 8. W. Brockett and L. Dai, “Non-holonomic kinematics and the role of elliptic functions in constructive controllability,” in Z. Li and J. F. ), Nonholonomic Motion Planning, pp. 1–21, Kluwer Academic Publishers, 1993. 9. F. Bullo and K. M. Lynch, “Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems,” IEEE Trans.

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