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Advances in Control of Articulated and Mobile Robots : Springer Tracts in Advanced Robotics - Bruno Siciliano

Advances in Control of Articulated and Mobile Robots

Springer Tracts in Advanced Robotics

By: Bruno Siciliano (Editor), Alessandro de Luca (Editor), Claudio Melchiorri (Editor), Giuseppe Casalino (Editor)

Hardcover Published: April 2004
ISBN: 9783540207832
Number Of Pages: 242

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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.

Planning motions for robotic systems subject to differential constraintsp. 1
Comparison and improvement of control schemes for robotic teleoperation systems with time delayp. 39
Measuring and improving performance in anti-windup laws for robot manipulatorsp. 61
Model-based friction compensationp. 87
Architectures for rapid prototyping of model-based robot controllersp. 101
Real-time visual tracking of 3D objectsp. 125
RTLinux-based controller for the SuperMARIO mobile robotp. 153
Coordination and control of multiarm nonholonomic mobile manipulatorsp. 171
Methods and algorithms for sensor data fusion aimed at improving the autonomy of a mobile robotp. 191
On the problem of simultaneous localization, map building, and servoing of autonomous vehiclesp. 223
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9783540207832
ISBN-10: 354020783X
Series: Springer Tracts in Advanced Robotics
Audience: Tertiary; University or College
Format: Hardcover
Language: English
Number Of Pages: 242
Published: April 2004
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.4 x 15.6  x 1.27
Weight (kg): 1.21