Robot Motion and Control 2009

ISBN-13: 9781848829848 / Angielski / Miękka / 2009 / 478 str.

Krzysztof R. Kozlowski

Opis

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.

Spis treści

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.