Robot Motion and Control: Recent Developments

Pascal Morin, Claude Samson (auth.), Professor Dr.-Ing. habil. Krzysztof Kozłowski (eds.)184628404X, 9781846284045

Robot Motion and Control presents very recent results in robot motion and control. Twenty papers have been chosen and expanded from fifty-three presented at the Fourth International Workshop on Robot Motion and Control held in Poland in June 2004. 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.
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.

Table of contents :
Front Matter….Pages I-XV
Front Matter….Pages 1-1
Trajectory Tracking for Nonholonomic Vehicles….Pages 3-23
Posture Stabilization of a Unicycle Mobile Robot — Two Control Approaches….Pages 25-54
Trajectory Tracking Control for Nonholonomic Mobile Manipulators….Pages 55-71
Bases for Local Nonholonomic Motion Planning….Pages 73-84
On Drift Neutralization of Stratified Systems….Pages 85-96
Front Matter….Pages 97-97
Novel Adaptive Control of Partially Modeled Dynamic Systems….Pages 99-111
Example Applications of Fuzzy Reasoning and Neural Networks in Robot Control….Pages 113-127
Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path….Pages 129-139
Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs….Pages 141-152
Flexible Robot Trajectory Tracking Control….Pages 153-163
Modeling, Motion Planning and Control of the Drones with Revolving Aerofoils: an Outline of the XSF Project….Pages 165-177
Front Matter….Pages 179-179
Absolute Orientation Estimation for Observer-based Control of a Five-link Walking Biped Robot….Pages 181-199
Biologically Inspired Motion Planning in Robotics….Pages 201-219
Control of an Autonomous Climbing Robot….Pages 221-232
Computation of Optimum Consumption of Energy for Anthropomorphic Robot Driven by Electric Motor….Pages 233-241
Front Matter….Pages 243-243
Real-Time Motion Planning and Control in the 2005 Cornell RoboCup System….Pages 245-263
Transition-Function Based Approach to Structuring Robot Control Software….Pages 265-286
Steps Toward Derandomizing RRTs….Pages 287-300
Tracking Methods for Relative Localisation….Pages 301-313
Robot Localisation Methods Using the Laser Scanners….Pages 315-332
Front Matter….Pages 333-333
Complex Control Systems: Example Applications….Pages 335-350
Examples of Transillumination Techniques Used in Medical Measurements and Imaging….Pages 351-364
Telerobotic Simulator in Minimally Invasive Surgery….Pages 365-373
Human-robot Interaction and Robot Control….Pages 375-390
On Electrical Analogues of Mechanical Systems and their Using in Analysis of Robot Dynamics….Pages 391-404
Back Matter….Pages 406-407