By Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino
This monograph provides an up-to-date resource of knowledge at the cutting-edge in complicated regulate of articulated and cellular robots. It contains appropriate chosen difficulties facing more advantageous actuation, movement making plans and keep watch over capabilities for articulated robots, in addition to of sensory and independent determination services for cellular robots. the elemental proposal at the back of the e-book is to supply a bigger group of robot researchers and builders with a competent resource of knowledge and leading edge functions within the box of keep watch over of cooperating and cellular robots. This ebook is the end result of the study venture MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 via the Italian Ministry for schooling, college and examine. The thorough dialogue, rigorous therapy, and vast span of the awarded paintings exhibit the numerous advances within the theoretical origin and expertise foundation of the robotics box world wide.
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Extra info for Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics)
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. of 1990 IEEE Int. Conf. on Robotics and Automation, pp. 734–739, 1990. 6. A. Bicchi and R. Sorrentino, “Dexterous manipulation through rolling,” Proc. of 1995 IEEE Int. Conf. on Robotics and Automation, pp. 452–457, 1995. 7. J. Book, “Modeling, design, and control of flexible manipulator arms: A tutorial review,” Proc.
N. (8) Note that by definition of hM i in (4), if Assumption 2 holds, there always exists a positive definite diagonal matrix Kg fulfilling the constraints (8). Given the construction above, we report in the following, for the sake of clarity, the complete control scheme with anti-windup compensation built on top of the computed torque controller (2): x˙ c = q − qe − r yc = B(q − qe ) −Kp (q − qe − r) − Kd (q˙ − q˙e ) − Ki xc + C(q − qe , q˙ − q˙e )(q˙ − q˙e ) + R(q − qe )(q˙ − q˙e ) + h(q − qe ), q¨e = B −1 (q) (up − C(q, q) ˙ q˙ − R(q)q˙ − h(q)) − B −1 (q − qe )(yc − C(q − qe , q˙ − q˙e )(q˙ − q˙e ) −R(q − qe )(q˙ − q˙e ) − h(q − qe )) up = sat(yc + v1 ), (9) where v1 is selected as in (7).
1, pp. 219–245, 1993. 33. M. Murray, Z. S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994. 34. M. Murray, M. Rathinam, and W. Sluis, “Differential flatness of mechanical control systems: A catalog of prototype systems,” Proc. of 1995 ASME Int. Mechanical Engineering Congr. , 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.