Ebook: Advances in Control of Articulated and Mobile Robots

This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

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This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

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This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

Content:
Front Matter....Pages -
Planning Motions for Robotic Systems Subject to Differential Constraints....Pages 1-38
Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay....Pages 39-60
Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators....Pages 61-85
Model-Based Friction Compensation....Pages 87-100
Architectures for Rapid Prototyping of Model-Based Robot Controllers....Pages 101-123
Real-Time Visual Tracking of 3D-Objects....Pages 125-151
RTLinux-Based Controller for the SuperMARIO Mobile Robot....Pages 153-169
Coordination and Control of Multiarm Nonholonomic Mobile Manipulators....Pages 171-190
Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot....Pages 191-222
On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles....Pages 223-242
Back Matter....Pages -

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This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

Content:
Front Matter....Pages -
Planning Motions for Robotic Systems Subject to Differential Constraints....Pages 1-38
Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay....Pages 39-60
Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators....Pages 61-85
Model-Based Friction Compensation....Pages 87-100
Architectures for Rapid Prototyping of Model-Based Robot Controllers....Pages 101-123
Real-Time Visual Tracking of 3D-Objects....Pages 125-151
RTLinux-Based Controller for the SuperMARIO Mobile Robot....Pages 153-169
Coordination and Control of Multiarm Nonholonomic Mobile Manipulators....Pages 171-190
Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot....Pages 191-222
On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles....Pages 223-242
Back Matter....Pages -
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