Ramsete : Articulated and Mobile Robotics for Services and Technology

Articulated and Mobile Robotics for Services and Technology

By: Salvatore Nicosia (Editor), Bruno Siciliano (Editor), Antonio Bicchi (Editor)

Write A Review

Paperback | 1 June 2001

At a Glance

Paperback
300 Pages

Dimensions(cm)
23.5 x 15.24 x 1.91

Paperback

$169.00

or 4 interest-free payments of $42.25 with

or

Ships in 7 to 10 business days

Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.

Shipping

	Standard Shipping	Express Shipping
Metro postcodes:	$9.99	$14.95
Regional postcodes:	$9.99	$14.95
Rural postcodes:	$9.99	$14.95

Orders over $79.00 qualify for free shipping.

How to return your order

At Booktopia, we offer hassle-free returns in accordance with our returns policy. If you wish to return an item, please get in touch with Booktopia Customer Care.

Additional postage charges may be applicable.

Defective items

If there is a problem with any of the items received for your order then the Booktopia Customer Care team is ready to assist you.

For more info please visit our Help Centre.

More in Mechanical Engineering

Formula 1 Cars

The greatest F1 cars from 1950 to the present day

Hardcover

RRP $70.00

$52.75

25%
OFF

The Cautious Traveller's Guide to The Wastelands

THE INSTANT SUNDAY TIMES BESTSELLER

Paperback

RRP $24.99

$21.75

13%
OFF

Conjugated Polymer Synthesis and Materials Applications - Yoshiki Chujo

$385.75

12%
OFF

Interpersonal Process in Therapy: An Integrative Model

7th Edition

Hardcover

RRP $189.95

$152.75

20%
OFF

List of Contributors	p. xiv
Strategies for Control and Coordination within Multiarm Systems	p. 1
Introduction	p. 1
The Functional Architecture	p. 3
An Example of Supporting Hw and Sw Architecture	p. 6
The Low Level Control Layer	p. 8
The Medium Level Control Layer	p. 11
The Teleoperated/Automatic Independent Motion Control of the Arms	p. 12
The Teleoperated/Automatic Coordinated Motion Control of the Arms	p. 15
Interaction Control during Coordinated Motion	p. 21
Comments on the Role of the High Level Control Layer	p. 23
Conclusions	p. 24
Modelling and Control of Servomechanisms	p. 27
Introduction	p. 27
Modelling and Compensation of Torque Disturbances	p. 29
Torque Disturbance Generation	p. 29
Existing Solutions for Torque Minimisation	p. 30
Torque Disturbance Model	p. 31
Spectral Identification of the Disturbance	p. 31
Adaptive Identification of the Disturbance	p. 33
Design of a Compensation Technique	p. 34
Experimental Results	p. 35
Modelling and Compensation of Load Oscillations	p. 37
Model of an Elastic Servo Mechanism	p. 37
Existing Solutions for the Compensation of Load Oscillations	p. 39
Classical Control and Load Oscillations	p. 39
LQG Load Position Control	p. 45
Design of the Optimal Controller	p. 46
Design of the Kalman Filter	p. 48
Design of the Feedforward Filters	p. 48
Experimental Results	p. 50
Conclusions and Future Directions	p. 51
Robotic Grasping and Manipulation	p. 55
Introduction	p. 55
Kinematics of Manipulation	p. 57
Grasp Closure Properties	p. 60
Form Closure	p. 60
Force Closure	p. 61
Dynamics	p. 63
Stability	p. 64
Contact Compliance	p. 66
Grasping and the Kinematics of the Hand	p. 67
Measures of Grasp Performance	p. 67
Concluding Remarks	p. 68
Tactile Sensing for Robotic Manipulation	p. 75
Introduction	p. 75
An Overview on Force/Torque and Tactile Sensors	p. 77
Force Sensors, IT Sensing	p. 77
Tactile Sensors	p. 79
Technology for Tactile Sensing	p. 80
Examples of Force/Torque and Tactile Sensors	p. 82
A Miniaturised Intrinsic Tactile Sensor	p. 83
A Tactile Matrix Sensor	p. 84
Slip Detection	p. 87
Slip Detection with a Tactile Sensor	p. 87
Slip Detection with a Tactile and Force/Torque Sensor	p. 89
Rotational and Translational Slip Detection	p. 90
Experimental Results	p. 93
Translational Slip Detection and Control	p. 94
Rotational and Translational Slip Detection and Control	p. 94
Manipulation Exploiting Friction	p. 96
Conclusions	p. 99
On Control of Flexible Robots	p. 103
Introduction	p. 103
Modelling	p. 104
Single Link	p. 104
Exact Model	p. 104
Rayleigh-Ritz Methods	p. 106
Finite Element Method	p. 107
Multiple Links	p. 107
Remarks	p. 108
Control	p. 109
PD Regulation	p. 109
Strain Feedback Control	p. 109
Inverse Dynamics	p. 109
Fuzzy Regulation	p. 110
Robust Control	p. 110
Singular Perturbation	p. 111
Sliding	p. 111
Input Shaping	p. 112
Cyclic Control	p. 112
	p. 112
Conclusion	p. 117
Interaction Control	p. 121
Introduction	p. 121
Motion Control	p. 123
Modelling	p. 123
Motion Control in Task Space	p. 124
Six-DOF Impedance Control	p. 126
Classical Impedance Control	p. 127
Geometrically Consistent Impedance Control	p. 129
Inner Motion Control Loop	p. 132
Redundancy Resolution	p. 133
Cooperative Robots	p. 135
Loose Cooperation	p. 135
Tight Cooperation	p. 136
Experimental Validation	p. 138
Single Manipulator	p. 139
Loose Cooperation	p. 148
Tight Cooperation	p. 150
Conclusion and Future Directions	p. 152
Impact Modelling and Control of Robotic Links	p. 155
Introduction	p. 155
Impact Modelling	p. 157
Some "Pioneering" Works	p. 157
General Approaches to Impact Modelling	p. 158
Impact Control in Robotics	p. 161
Some "Old" Experimental Switching Schemes	p. 162
Integral Control Laws and Bouncing Problems	p. 163
A Unique Control Law for Free Motion and Contact	p. 165
Some Proposed Impact Control Schemes	p. 165
A Control Scheme Based on Impact Effects Estimation	p. 167
A Position Feedback Control Law	p. 171
Conclusions	p. 177
Control of Wheeled Mobile Robots: An Experimental Overview	p. 181
Introduction	p. 181
Organization of Contents	p. 182
Basic Motion Tasks	p. 183
Modelling and Control Properties	p. 184
Controllability at a Point	p. 185
Controllability About a Trajectory	p. 186
Feedback Linearisability	p. 187
Chained Forms	p. 188
Target Vehicle: SuperMARIO	p. 189
Physical Description	p. 189
Control System Architecture	p. 190
Kinematics	p. 191
Control Constraints	p. 192
Trajectory Tracking	p. 193
Feedforward Command Generation	p. 193
Linear Control Design	p. 194
Nonlinear Control Design	p. 195
Dynamic Feedback Linearisation	p. 196
Experiments	p. 199
Posture Stabilisation	p. 204
Smooth Time-varying Control	p. 204
Nonsmooth Time-varying Control	p. 207
Control Based on Polar Coordinates	p. 210
Dynamic Feedback Linearisation	p. 215
Guidelines for End-users	p. 221
Summary and Comparison	p. 221
Future Directions	p. 223
Landmark Recognition in Indoor Navigation by Fuzzy Maps and CBR	p. 227
Introduction	p. 227
World Representation	p. 228
The Overall Structure	p. 230
Fuzzy Maps	p. 231
Fuzzy Morphology	p. 233
Worldmark	p. 233
Wavelet Decomposition	p. 235
Denoising with Wavelet	p. 236
Similarity Metric	p. 238
Cross Correlation Similarity	p. 238
Fuzzy Similarity	p. 238
Wavelet Similarity	p. 240
Extension to a Dynamic Library: CBR	p. 240
Combined Recognition	p. 244
Experiments with Static Library and TBM	p. 246
Conclusion and Future Developments	p. 249
Sensor Fusion for Robot Localisation	p. 251
Introduction	p. 251
Sensor Integration	p. 254
Techniques and Approaches	p. 254
Outdoor and Indoor Characterisation	p. 257
Sensor Fusion	p. 257
Sensor Fusion With Known Statistics in a Centralised Architecture	p. 258
Sensor Fusion With Known Statistics in a Decentralised Architecture	p. 260
Sensor Fusion With Unknown Statistics	p. 261
Localisation	p. 262
The Localisation Problem	p. 262
The Extended Kalman Filter	p. 264
Adaptive Extended Kalman Filter	p. 266
Integrating Vision and Sonar	p. 267
Observability and Localisation	p. 267
Simultaneous Localisation and Map Construction	p. 267
Multi-robot Localisation	p. 268
Some Experimental Results	p. 268
Conclusion and Future Directions	p. 269
Table of Contents provided by Publisher. All Rights Reserved.

Ramsete : Articulated and Mobile Robotics for Services and Technology

Articulated and Mobile Robotics for Services and Technology

At a Glance

Paperback

Shipping

How to return your order

Defective items

You Can Find This Book In

More in Mechanical Engineering

Formula 1 Cars

The greatest F1 cars from 1950 to the present day

The Cautious Traveller's Guide to The Wastelands

THE INSTANT SUNDAY TIMES BESTSELLER

Conjugated Polymer Synthesis and Materials Applications

Hybrid Materials and Advanced Manufacturing

Techniques and Applications, Volume 1

Principles of Modern Grinding Technology

Interpersonal Process in Therapy: An Integrative Model

7th Edition

Recent Developments in Mechatronics

Handbook of Tribology

Design and Applications of Mobile Robotics

Fundamentals of Multiphase Flows for Process Industries

Fundamentals of Multiphase Flows for Process Industries

An Engineering Approach to Thermodynamics

Heat Transfer

Principles and Applications

Mobile Robotics

Models, Methods and Applications

Theoretical Aspects of Solid Mechanics

Dynamics of Droplets

Essentials of Fluid Mechanics

Connected and Automated Mobility

Technologies and Applications

Connected and Automated Mobility

Technologies and Applications

Engineering Mechanics

Statics and Dynamics

Principles of Mechanical Engineering

Engineering Tribology With Applications

Intelligent Mechatronic Systems

Modeling and Control

Machine Tool and Manufacturing Technology

Twin Control Approaches

Fluid Dynamics

Transport of Droplets and Sprays

This product is categorised by