By Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino

This monograph provides an up-to-date resource of knowledge at the state-of-the-art in complex keep an eye on of articulated and cellular robots. It contains correct chosen difficulties facing improved actuation, movement making plans and keep an eye on services for articulated robots, in addition to of sensory and self reliant choice functions for cellular robots. the fundamental proposal in the back of the e-book is to supply a bigger group of robot researchers and builders with a competent resource of knowledge and leading edge functions within the box of keep watch over of cooperating and cellular robots. This e-book is the result of the learn venture MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 through the Italian Ministry for schooling, college and learn. The thorough dialogue, rigorous remedy, and extensive span of the provided paintings exhibit the numerous advances within the theoretical origin and know-how foundation of the robotics box around the world.

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J. of Robust and Nonlinear Control, vol. 8, pp. 995–1020, 1998. 38 A. De Luca et al. 48. M. Vendittelli and G. Oriolo, “Stabilization of the general two-trailer system,” Proc. of 2000 IEEE Int. Conf. on Robotics and Automation, pp. 1817–1822, 2000. 49. M. Vendittelli, G. -P. Laumond, “Steering nonholonomic systems via nilpotent approximations: The general two-trailer system,” Proc. of 1999 IEEE Int. Conf. on Robotics and Automation, pp. 823–829, 1999. it Abstract. Telemanipulation, one of the first area in robotics to be developed, still attracts a noticeable research activity.

Canny, “Motion of two rigid bodies with rolling constraint,” IEEE Trans. on Robotics and Automation, vol. 6, pp. 62–72, 1990. 28. A. Liz´arraga, P. Morin, and C. Samson, Exponential Stabilization of Certain Configurations of the General N-Trailer System, Research Report no. 3412, INRIA, 1998. 29. P. Lucibello and G. Oriolo, “Robust stabilization via iterative state steering with an application to chained-form systems,” Automatica, vol. 37, pp. 71–79, 2001. 30. A. Marigo and A. Bicchi, “Rolling bodies with regular surface: Controllability theory and applications,” IEEE Trans.

G. [16]. In particular, performance aspects are analyzed in terms of stability, perceived inertia, tracking properties, correct perception of a structured environment, and position drift between the master and slave manipulators. As a consequence of this comparative analysis, the choice of the control parameters in each scheme is briefly discussed, and it is shown that a trade-off between stability and performance naturally arises. Finally, attention tt is focused on the t intrinsically pass ssivee control (IPC IPC)) scheme [23 [ ,7], 7 and it is shown how a pproper ope modification of the he basic control law can lead a to significant benefits for some of the proposed indices.

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Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino


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