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Ramsete : Articulated and Mobile Robotics for Services and Technology :  Articulated and Mobile Robotics for Services and Technology - Salvatore Nicosia

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), Paolo Valigi (Editor)

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Published: June 2001
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Strategies for Control and Coordination within Multiarm Systems.- Modelling and Control of Servomechanisms.- Robotic Grasping and Manipulation.- Tactile sensing for Robotic Manipulation.-On Control of Flexible Robots.- Interaction Control.- Impact Modelling and Control of Robotic Links.- Control of Wheeled Mobile Robots: An Experimental Overview.- Landmark Recognition in Indoor Navigation by Fuzzy Maps and CBR.- Sensor Fusion for Robot Localisation.

List of Contributorsp. xiv
Strategies for Control and Coordination within Multiarm Systemsp. 1
Introductionp. 1
The Functional Architecturep. 3
An Example of Supporting Hw and Sw Architecturep. 6
The Low Level Control Layerp. 8
The Medium Level Control Layerp. 11
The Teleoperated/Automatic Independent Motion Control of the Armsp. 12
The Teleoperated/Automatic Coordinated Motion Control of the Armsp. 15
Interaction Control during Coordinated Motionp. 21
Comments on the Role of the High Level Control Layerp. 23
Conclusionsp. 24
Modelling and Control of Servomechanismsp. 27
Introductionp. 27
Modelling and Compensation of Torque Disturbancesp. 29
Torque Disturbance Generationp. 29
Existing Solutions for Torque Minimisationp. 30
Torque Disturbance Modelp. 31
Spectral Identification of the Disturbancep. 31
Adaptive Identification of the Disturbancep. 33
Design of a Compensation Techniquep. 34
Experimental Resultsp. 35
Modelling and Compensation of Load Oscillationsp. 37
Model of an Elastic Servo Mechanismp. 37
Existing Solutions for the Compensation of Load Oscillationsp. 39
Classical Control and Load Oscillationsp. 39
LQG Load Position Controlp. 45
Design of the Optimal Controllerp. 46
Design of the Kalman Filterp. 48
Design of the Feedforward Filtersp. 48
Experimental Resultsp. 50
Conclusions and Future Directionsp. 51
Robotic Grasping and Manipulationp. 55
Introductionp. 55
Kinematics of Manipulationp. 57
Grasp Closure Propertiesp. 60
Form Closurep. 60
Force Closurep. 61
Dynamicsp. 63
Stabilityp. 64
Contact Compliancep. 66
Grasping and the Kinematics of the Handp. 67
Measures of Grasp Performancep. 67
Concluding Remarksp. 68
Tactile Sensing for Robotic Manipulationp. 75
Introductionp. 75
An Overview on Force/Torque and Tactile Sensorsp. 77
Force Sensors, IT Sensingp. 77
Tactile Sensorsp. 79
Technology for Tactile Sensingp. 80
Examples of Force/Torque and Tactile Sensorsp. 82
A Miniaturised Intrinsic Tactile Sensorp. 83
A Tactile Matrix Sensorp. 84
Slip Detectionp. 87
Slip Detection with a Tactile Sensorp. 87
Slip Detection with a Tactile and Force/Torque Sensorp. 89
Rotational and Translational Slip Detectionp. 90
Experimental Resultsp. 93
Translational Slip Detection and Controlp. 94
Rotational and Translational Slip Detection and Controlp. 94
Manipulation Exploiting Frictionp. 96
Conclusionsp. 99
On Control of Flexible Robotsp. 103
Introductionp. 103
Modellingp. 104
Single Linkp. 104
Exact Modelp. 104
Rayleigh-Ritz Methodsp. 106
Finite Element Methodp. 107
Multiple Linksp. 107
Remarksp. 108
Controlp. 109
PD Regulationp. 109
Strain Feedback Controlp. 109
Inverse Dynamicsp. 109
Fuzzy Regulationp. 110
Robust Controlp. 110
Singular Perturbationp. 111
Slidingp. 111
Input Shapingp. 112
Cyclic Controlp. 112
p. 112
Conclusionp. 117
Interaction Controlp. 121
Introductionp. 121
Motion Controlp. 123
Modellingp. 123
Motion Control in Task Spacep. 124
Six-DOF Impedance Controlp. 126
Classical Impedance Controlp. 127
Geometrically Consistent Impedance Controlp. 129
Inner Motion Control Loopp. 132
Redundancy Resolutionp. 133
Cooperative Robotsp. 135
Loose Cooperationp. 135
Tight Cooperationp. 136
Experimental Validationp. 138
Single Manipulatorp. 139
Loose Cooperationp. 148
Tight Cooperationp. 150
Conclusion and Future Directionsp. 152
Impact Modelling and Control of Robotic Linksp. 155
Introductionp. 155
Impact Modellingp. 157
Some "Pioneering" Worksp. 157
General Approaches to Impact Modellingp. 158
Impact Control in Roboticsp. 161
Some "Old" Experimental Switching Schemesp. 162
Integral Control Laws and Bouncing Problemsp. 163
A Unique Control Law for Free Motion and Contactp. 165
Some Proposed Impact Control Schemesp. 165
A Control Scheme Based on Impact Effects Estimationp. 167
A Position Feedback Control Lawp. 171
Conclusionsp. 177
Control of Wheeled Mobile Robots: An Experimental Overviewp. 181
Introductionp. 181
Organization of Contentsp. 182
Basic Motion Tasksp. 183
Modelling and Control Propertiesp. 184
Controllability at a Pointp. 185
Controllability About a Trajectoryp. 186
Feedback Linearisabilityp. 187
Chained Formsp. 188
Target Vehicle: SuperMARIOp. 189
Physical Descriptionp. 189
Control System Architecturep. 190
Kinematicsp. 191
Control Constraintsp. 192
Trajectory Trackingp. 193
Feedforward Command Generationp. 193
Linear Control Designp. 194
Nonlinear Control Designp. 195
Dynamic Feedback Linearisationp. 196
Experimentsp. 199
Posture Stabilisationp. 204
Smooth Time-varying Controlp. 204
Nonsmooth Time-varying Controlp. 207
Control Based on Polar Coordinatesp. 210
Dynamic Feedback Linearisationp. 215
Guidelines for End-usersp. 221
Summary and Comparisonp. 221
Future Directionsp. 223
Landmark Recognition in Indoor Navigation by Fuzzy Maps and CBRp. 227
Introductionp. 227
World Representationp. 228
The Overall Structurep. 230
Fuzzy Mapsp. 231
Fuzzy Morphologyp. 233
Worldmarkp. 233
Wavelet Decompositionp. 235
Denoising with Waveletp. 236
Similarity Metricp. 238
Cross Correlation Similarityp. 238
Fuzzy Similarityp. 238
Wavelet Similarityp. 240
Extension to a Dynamic Library: CBRp. 240
Combined Recognitionp. 244
Experiments with Static Library and TBMp. 246
Conclusion and Future Developmentsp. 249
Sensor Fusion for Robot Localisationp. 251
Introductionp. 251
Sensor Integrationp. 254
Techniques and Approachesp. 254
Outdoor and Indoor Characterisationp. 257
Sensor Fusionp. 257
Sensor Fusion With Known Statistics in a Centralised Architecturep. 258
Sensor Fusion With Known Statistics in a Decentralised Architecturep. 260
Sensor Fusion With Unknown Statisticsp. 261
Localisationp. 262
The Localisation Problemp. 262
The Extended Kalman Filterp. 264
Adaptive Extended Kalman Filterp. 266
Integrating Vision and Sonarp. 267
Observability and Localisationp. 267
Simultaneous Localisation and Map Constructionp. 267
Multi-robot Localisationp. 268
Some Experimental Resultsp. 268
Conclusion and Future Directionsp. 269
Table of Contents provided by Publisher. All Rights Reserved.

ISBN: 9783540420903
ISBN-10: 3540420908
Series: Lecture Notes in Control and Information Science
Audience: General
Format: Paperback
Language: English
Number Of Pages: 273
Published: June 2001
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.39 x 15.6  x 1.6
Weight (kg): 0.42