Robot Motion and Control 2011

✍ Scribed by Silvère Bonnabel (auth.), Krzysztof Kozłowski (eds.)

• Publisher: Springer-Verlag London
• Year: 2012
• Tongue: English
• Leaves: 417
• Series: Lecture Notes in Control and Information Sciences 422
• Edition: 1
• Category: Library

✦ Synopsis

Robot Motion Control 2011 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 2011. 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.

✦ Table of Contents

Front Matter....Pages 1-23
Front Matter....Pages 1-1
Symmetries in Observer Design: Review of Some Recent Results and Applications to EKF-based SLAM....Pages 3-15
Constraint Control of Mobile Manipulators....Pages 17-26
Control Methods for Wheeeler – The Hypermobile Robot....Pages 27-37
Tracking Control Strategy for the Standard N -trailer Mobile Robot – A Geometrically Motivated Approach....Pages 39-51
Robust Control of Differentially Driven Mobile Platforms....Pages 53-64
Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique....Pages 65-74
Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping....Pages 75-85
Front Matter....Pages 87-87
First Steps toward Automatically Generating Bipedal Robotic Walking from Human Data....Pages 89-116
Dynamic Position/Force Controller of a Four Degree-of-Freedom Robotic Leg....Pages 117-126
Perception-Based Motion Planning for a Walking Robot in Rugged Terrain....Pages 127-136
Improving Accuracy of Local Maps with Active Haptic Sensing....Pages 137-146
Postural Equilibrium in Two-Legged Locomotion....Pages 147-156
Front Matter....Pages 157-157
Generalized Predictive Control of Parallel Robots....Pages 159-169
Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System....Pages 171-182
Indirect Linearization Concept through the Forward Model-Based Control System....Pages 183-192
Research Oriented Motor Controllers for Robotic Applications....Pages 193-203
Efficient and Simple Noise Filtering for Stabilization Tuning of a Novel Version of a Model Reference Adaptive Controller....Pages 205-214
Real-Time Estimation and Adaptive Control of Flexible Joint Space Manipulators....Pages 215-224
Visual Servo Control Admitting Joint Range of Motion Maximally....Pages 225-235
Optimal Extended Jacobian Inverse Kinematics Algorithm with Application to Attitude Control of Robotic Manipulators....Pages 237-246
Front Matter....Pages 157-157
Active Disturbance Rejection Control for a Flexible-Joint Manipulator....Pages 247-256
Front Matter....Pages 257-257
Collision Free Coverage Control with Multiple Agents....Pages 259-272
Manipulating Ergodic Bodies through Gentle Guidance....Pages 273-282
Practical Efficiency Evaluation of a Nilpotent Approximation for Driftless Nonholonomic Systems....Pages 283-292
Obstacle Avoidance and Trajectory Tracking Using Fluid-Based Approach in 2D Space....Pages 293-304
Motion Planning of Nonholonomic Systems – Nondeterministic Endogenous Configuration Space Approach....Pages 305-315
Front Matter....Pages 317-317
Generation of Time Optimal Trajectories of an Autonomous Airship....Pages 319-329
Formation Flight Control Scheme for Unmanned Aerial Vehicles....Pages 331-340
Comparison of Two- and Four-Engine Propulsion Structures of Airship....Pages 341-350
Dynamic Simulations of Free-Floating Space Robots....Pages 351-361
Front Matter....Pages 363-363
Planning Motion of Manipulators with Local Manipulability Optimization....Pages 365-375
A Comparison Study of Discontinuous Control Algorithms for a Three-Link Nonholonomic Manipulator....Pages 377-389
Front Matter....Pages 391-391
Development of Knee Joint Robot with Flexion, Extension and Rotation Movements – Experiments on Imitation of Knee Joint Movement of Healthy and Disable Persons....Pages 393-402
Exercise Programming and Control System of the Leg Rehabilitation Robot RRH1....Pages 403-412
Back Matter....Pages 1-8

✦ Subjects

Control; Robotics and Automation; Artificial Intelligence (incl. Robotics)