Robot Motion and Control: Recent Developments

ISBN-13: 9781846284045 / Angielski / Miękka / 2006 / 404 str.

Krzysztof R. Kozlowski

Opis

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.

Spis treści

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.

O autorze

Professor Kozlowski and members of the International Program Committee have been working in the area of robotics and automation for many years. They have experience of various fields of robotics and have been working on control theory with applications in robotics for some time now.

Professor K. Kozlowski gained both his M.S. degree in electrical engineering and his Ph.D degree in control engineering from Poznan University of Technology, where he is currently a full professor of robotics and automation. He is the author of a book titled Modelling and Identification in Robotics (Springer-Verlag, 1998). He is on the editorial boards of several Polish and international journals (e.g. IEEE RAM, IEEE Trans. CST, Control Society Conference Editorial Board). He has served every year since 1995 on the ICRA Program Committee. He has worked as a program chair of the International Conference on Advanced Robotics (ICAR), 2001, Second International Workshop on Robot Motion and Control (RoMoCo), 2001, and vice chairman of the 7^th IEEE Conference on Models in Automation and Robotics (MMAR), 2001.

He has been a Senior Member of the IEEE since 1988. In 2001 he was elected as a Chairman of the IEEE Robotics and Automation Chapter in Poland. He is a member of the Control Systems Society Chapter in Poland. He has served as an RAS AdCom member from 2000 till now. He plans to enlarge IEEE student and regular member participation in Poland and former Eastern European countries along with the conference activities in these countries (i.e. MMAR, RoMoCo) under the umbrella of both organisations.