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Full Description
Robot Motion and Control presents very recent results in robot motion and control. Twenty papers have been chosen and expanded from fifty-three presented at the Fourth International Workshop on Robot Motion and Control held in Poland in June 2004. The authors of these papers have been carefully selected and represent leading institutions in this field.
The following recent developments are discussed:
- Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors.
- New control algorithms for industrial robots, nonholonomic systems and legged robots.
- Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others.
The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.
Contents
Control and Trajectory Planning of Nonholonomic Systems.- Trajectory Tracking for Nonholonomic Vehicles.- Posture Stabilization of a Unicycle Mobile Robot — Two Control Approaches.- Trajectory Tracking Control for Nonholonomic Mobile Manipulators.- Bases for Local Nonholonomic Motion Planning.- On Drift Neutralization of Stratified Systems.- Control and Mechanical Systems.- Novel Adaptive Control of Partially Modeled Dynamic Systems.- Example Applications of Fuzzy Reasoning and Neural Networks in Robot Control.- Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path.- Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs.- Flexible Robot Trajectory Tracking Control.- Modeling, Motion Planning and Control of the Drones with Revolving Aerofoils: an Outline of the XSF Project.- Climbing and Walking Robots.- Absolute Orientation Estimation for Observer-based Control of a Five-link Walking Biped Robot.- Biologically Inspired Motion Planning in Robotics.- Control of an Autonomous Climbing Robot.- Computation of Optimum Consumption of Energy for Anthropomorphic Robot Driven by Electric Motor.- Multi-agent Systems and Localization Methods.- Real-Time Motion Planning and Control in the 2005 Cornell RoboCup System.- Transition-Function Based Approach to Structuring Robot Control Software.- Steps Toward Derandomizing RRTs.- Tracking Methods for Relative Localisation.- Robot Localisation Methods Using the Laser Scanners.- Applications of Robotic Systems.- Complex Control Systems: Example Applications.- Examples of Transillumination Techniques Used in Medical Measurements and Imaging.- Telerobotic Simulator in Minimally Invasive Surgery.- Human-robot Interaction and Robot Control.- On Electrical Analogues of MechanicalSystems and their Using in Analysis of Robot Dynamics.
