Control Problems in Robotics and Automation

Joris De Schutter, Herman Bruyninckx (auth.), Professor Bruno Siciliano, Professor Kimon P. Valavanis (eds.)3540762205, 9783540762201

Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered include: automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.

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Table of contents :
Force control: A bird’s eye view….Pages 1-17
Multirobots and cooperative systems….Pages 19-34
Robotic dexterity via nonholonomy….Pages 35-49
Control for teleoperation and haptic interfaces….Pages 51-66
Recent progress in fuzzy control….Pages 67-81
Trajectory control of flexible manipulators….Pages 83-104
Dynamics and control of bipedal robots….Pages 105-117
Free-floating robotic systems….Pages 119-134
Underactuated mechanical systems….Pages 135-150
Trends in mobile robot and vehicle control….Pages 151-175
Vision-based robot control….Pages 177-192
Sensor fusion….Pages 193-207
Discrete event theory for the monitoring and control of robotic systems….Pages 209-225
Scheduling of flexible manufacturing systems….Pages 227-243
Task synchronization via integration of sensing, planning, and control in a manufacturing work-cell….Pages 245-260
Advanced air traffic automation: A case study in distributed decentralized control….Pages 261-295