Control Problems in Robotics

By: Antonio Bicchi (Editor), Henrik Christensen (Editor), Domenico Prattichizzo (Editor)

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Hardcover | 4 December 2002

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300 Pages

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23.5 x 15.88 x 2.54

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The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research - rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today's research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.

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Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Medicine Medicine in General Mechanical Engineering & Materials Mechanical Engineering Computing & I.T.Computer Science

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Published: 5th December 2010

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Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning	p. 1
Introduction	p. 1
Nonholonomic Systems and Path Deformation	p. 3
Application to the Mobile Robot Hilare Towing a Trailer	p. 8
Application to Path Planning for Trucks and Trailers	p. 12
Conclusion and Future Work	p. 16
From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories	p. 19
Introduction	p. 19
Generic Problem Formulation	p. 20
Dynamic Programming	p. 22
Rapidly-Exploring Random Trees	p. 27
Research Challenges	p. 31
Control of Nonprehensile Manipulation	p. 39
Introduction	p. 39
Definitions	p. 41
Dynamic Underactuated Nonprehensile Manipulation	p. 44
Distributed Manipulation and Open Problems	p. 50
Motion Planning and Control Problems for Underactuated Robots	p. 59
Motivating Problems from a Variety of Robotic Applications	p. 59
Mathematical Unifying Approach to the Modeling of Robotic Systems	p. 62
Existing Results on Planning for Underactuated Systems	p. 65
Open Problems and Possible Approaches	p. 69
Motion Description Languages for Multi-Modal Control in Robotics	p. 75
Introduction	p. 75
Motion Description Languages	p. 76
Description Lengths	p. 80
A Unified Approach to Control and Hardware Design	p. 84
Preliminary Results	p. 86
Further Issues	p. 87
Polynomial Design of Dynamics-based Information Processing System	p. 91
Introduction	p. 91
Dynamics and Whole Body Motion	p. 92
Motion Reduction and Symbolization	p. 93
Design of Dynamics-Based Information Processing System	p. 94
Generation of the Whole Body Motion	p. 100
Conclusion	p. 102
Actuation Methods For Human-Centered Robotics and Associated Control Challenges	p. 105
Introduction	p. 105
New Actuation Approaches	p. 108
Conclusion	p. 119
Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach	p. 121
Introduction	p. 121
Review of Time Domain Passivity Approach	p. 122
Implementation Issues	p. 127
Simulation Examples	p. 129
Discussion	p. 130
Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots	p. 135
Introduction	p. 135
Cartesian Compliant Control	p. 136
Control of the flexible joint robot	p. 140
Experiments	p. 147
Discussion	p. 149
Conclusion	p. 149
Toward the Control of Self-Assembling Systems	p. 153
Introduction	p. 153
Related Work	p. 155
Modeling	p. 156
Discussion	p. 162
Conclusion	p. 166
Towards Abstraction and Control for Large Groups of Robots	p. 169
Introduction	p. 169
Definitions and Problem Formulation	p. 171
Mean and Covariance Control for Fully Actuated Planar Robots	p. 173
Mean and Variance Control for Fully Actuated Planar Robots	p. 179
Conclusion	p. 182
Omnidirectional Sensing for Robot Control	p. 183
Introduction	p. 183
A Unifying Projection Model	p. 184
The Signal Question	p. 185
The Geometry Question	p. 187
The Planning Question	p. 191
Future Work	p. 196
A Passivity Approach to Vision-based Dynamic Control of Robots with Nonlinear Observer	p. 199
Introduction	p. 199
Relative Rigid Body Motion	p. 201
Visual Feedback System	p. 202
Vision-based Robot Control	p. 207
Conclusions	p. 212
Visual Servoing along Epipoles	p. 215
Introduction	p. 215
Notation	p. 216
Visual Servoing Algorithm	p. 218
Experiments	p. 226
Conclusions and Open Problems	p. 228
Toward Geometric Visual Servoing	p. 233
Introduction	p. 233
Six DOF Diffeomorphism to Image-space	p. 235
Image Jacobian	p. 240
Controller	p. 242
Conclusion	p. 245
Vision-Based Online Trajectory Generation and Its Application to Catching	p. 249
Introduction	p. 249
Related Works	p. 250
Vision-Based Online Trajectory Generator	p. 251
Experiment	p. 257
Conclusion	p. 259
Stability Analysis of Invariant Visual Servoing and Robustness to Parametric Uncertainties	p. 265
Introduction	p. 265
Modeling	p. 267
Vision-based control	p. 269
Stability Analysis	p. 270
Robustness to Parametric Uncertainties	p. 271
Open problems	p. 273
Experimental Results	p. 274
Conclusion	p. 277
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Control Problems in Robotics

At a Glance

Hardcover

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How to return your order

Defective items

You Can Find This Book In

Other Editions and Formats

Paperback

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