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 provides an up-to-date resource of data at the state-of-the-art in complicated keep an eye on of articulated and cellular robots. It comprises correct chosen difficulties facing stronger actuation, movement making plans and keep an eye on services for articulated robots, in addition to of sensory and self sufficient determination functions for cellular robots. the elemental inspiration at 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 purposes within the box of regulate of cooperating and cellular robots. This e-book is the end result of the study undertaking MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 through the Italian Ministry for schooling, collage and learn. The thorough dialogue, rigorous remedy, and vast span of the awarded paintings display the numerous advances within the theoretical starting place and know-how foundation of the robotics box around the world.

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Flexible slewing link,” ASME J. of Dynamic Systems, Measurement, and Control, vol. 110, pp. 416–421, 1988. 3. E. Bayo, “A finite-element approach to control the end-point motion of a single-link flexible robot,” J. of Robotic Systems, vol. 4, pp. 63–75, 1987. 4. A. Bella¨ıche, “The tangent space in sub-Riemannian geometry,” in A. -J. ), Sub-Riemannian Geometry, pp. 1–78, Birkh¨auser, 1996. 36 A. De Luca et al. 5. F. Bellezza, L. Lanari, and G. Ulivi, “Exact modeling of the slewing flexible link,” Proc.

20 A. De Luca et al. 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.

1995. 35. M. S. Sastry, “Nonholonomic motion planning: Steering using sinusoids,” IEEE Trans. on Automatic Control, vol. 38, pp. 700–716, 1993. 36. G. Oriolo, A. De Luca, and M. Vendittelli, “WMR control via dynamic feedback linearization: Design, implementation and experimental validation,” IEEE Trans. on Control Systems Technology, vol. 10, pp. 835–852, 2002. 37. G. Oriolo and Y. Nakamura, “Control of mechanical systems with second-order nonholonomic constraints: Underactuated manipulators,” Proc.

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