New PDF release: Advances in Control of Articulated and Mobile Robots

By Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino

This monograph offers an up-to-date resource of knowledge at the cutting-edge in complex regulate of articulated and cellular robots. It comprises appropriate chosen difficulties facing greater actuation, movement making plans and regulate features for articulated robots, in addition to of sensory and independent determination services for cellular robots. the fundamental concept in the back of the e-book is to supply a bigger neighborhood of robot researchers and builders with a competent resource of data and cutting edge functions within the box of keep watch over of cooperating and cellular robots. This ebook is the result of the learn undertaking MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 by means of the Italian Ministry for schooling, collage and study. The thorough dialogue, rigorous therapy, and huge span of the awarded paintings demonstrate the numerous advances within the theoretical beginning and expertise foundation of the robotics box all over the world.

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Murray, “Configuration flatness of Lagrangian systems underactuated by one control,” SIAM J. of Control and Optimization, vol. 36, pp. 164–179, 1998. 42. P. Rouchon, “Necessary condition and genericity of dynamic feedback linearization,” J. of Mathematical Systems, Estimation and Control, vol. 4, pp. 257–260, 1994. 43. P. Rouchon, M. Fliess, J. L´evine, and P. Martin, “Flatness, motion planning and trailer systems,” Proc. of 32nd IEEE Conf. on Decision and Control, pp. 2700–2705, 1993. 44. S. Sekhavat, P.

Conf. on Robotics and Automation, pp. 2090–2095, 2001. 14. A. De Luca and P. Lucibello, “A general algorithm for dynamic feedback linearization of robots with elastic joints,” Proc. of 1998 IEEE Int. Conf on Robotics and Automation, pp. 504–510, 1998. 15. A. De Luca, R. Mattone, and G. Oriolo, “Stabilization of an underactuated planar 2R manipulator,” Int. J. on Robust and Nonlinear Control, vol. 10, pp. 181–198, 2000. 16. A. De Luca and G. Oriolo, “Motion planning and trajectory control of an underactuated three-link robot via dynamic feedback linearization,” Proc.

Arcara and C. Melchiorri CR4. Stiffness Another important aspect for the evaluation of the performance of a telemanipulation scheme is the correct perception, for the human operator, of the stiffness of the remote environment. Assuming for example the case of interaction with an environment with known stiffness Ke and damping Be , the perceived stiffness can be measured with G3 (s) ≡ xm Fh −1 (23) Fe =−(Be s+Ke )xs In this case, one can identify a constant term Keq that represents the perceived stiffness: G3 (s) = Keq G∗3 (s) (24) where G∗3 (s) satisfies G∗3 (0) = 1.

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Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino

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