Robot Motion and Control

2007. Auflage 2007
ISBN: 978-1-84628-973-6
Verlag: Springer

Buch, Englisch, Band 360, 452 Seiten, Format (B × H): 154 mm x 241 mm, Gewicht: 1470 g

Reihe: Lecture Notes in Control and Information Sciences

"Robot Motion Control 2007" presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. 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 nonholonomic systems with optimization of energy, torque limitations and other factors; vision-based Control; 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.

Zielgruppe

Research

Autoren/Hrsg.

Kozlowski, Krzysztof R

Kozlowski, Krzysztof

Fachgebiete

• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Mikroprozessoren
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Luft- und Raumfahrttechnik, Luftverkehr
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Wissensbasierte Systeme, Expertensysteme
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Fahrzeugtechnik
• Wirtschaftswissenschaften Wirtschaftssektoren & Branchen Fertigungsindustrie Luftfahrtindustrie
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Produktionstechnik

Inhaltsverzeichnis

Control of Nonholonomic Systems.- Modelling and Trajectory Generation of Lighter-Than-Air Aerial Robots - Invited Paper.- Control of 3 DOF Quadrotor Model.- Internal Model Control-Based Adaptive Attitude Tracking.- Tracking Control of Automated Guided Vehicles.- VFO Control for Mobile Vehicles in the Presence of Skid Phenomenon.- Vision-Based Control.- Vision-Based Dynamic Velocity Field Generation for Mobile Robots.- Zoom Control to Compensate Camera Translation Within a Robot Egomotion Estimation Approach.- Two-Finger Grasping for Vision Assisted Object Manipulation.- Trajectory Planning with Control Horizon Based on Narrow Local Occupancy Grid Perception.- New Control Algorithms for Robot Manipulators.- Control for a Three-Joint Underactuated Planar Manipulator - Interconnection and Damping Assignment Passivity-Based Control Approach.- A New Control Algorithm for Manipulators with Joint Flexibility.- An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulators.- Velocity Tracking Controller for Rigid Manipulators.- Fixed Point Transformations-Based Approach in Adaptive Control of Smooth Systems.- Driving Redundant Robots by a Dedicated Clutch-Based Actuator.- An Energy-Based Approach Towards Modeling of Mixed Reality Mechatronic Systems.- New Trends in Kinematics and Localization Methods.- Navigation of Autonomous Mobile Robots - Invited Paper.- Kinematic Motion Patterns of Mobile Manipulators.- Generalized Kinematic Control of Redundant Manipulators.- Parametric Representation of the Environment of a Mobile Robot for Measurement Update in a Particle Filter.- Simulation of a Mobile Robot with an LRF in a 2D Environment and Map Building.- Trajectory Planning Issues for Nonholonomic Systems.- Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment.- Computationally Efficient Path Planning for Wheeled Mobile Robots in Obstacle Dense Environments.- Piecewise-Constant Controls for Newtonian Nonholonomic Motion Planning.- Path Following for Nonholonomic Mobile Manipulators.- Rehabilitation Robotics.- On Simulator Design of the Spherical Therapeutic Robot Koala.- Development of Rehabilitation Training Support System Using 3D Force Display Robot.- Applying CORBA Technology for the Teleoperation of Wheeeler.- Humanoid Robots.- Educational Walking Robots.- Humanoid Binaural Sound Tracking Using Kalman Filtering and HRTFs.- Mechatronics of the Humanoid Robot ROMAN.- Applications of Robotic Systems.- Assistive Feeding Device for Physically Handicapped Using Feedback Control.- Design and Control of a Heating-Pipe Duct Inspection Mobile Robot.- Measurement and Navigation System of the Inspection Robot RK-13.- Architecture of Multi-segmented Inspection Robot KAIRO-II.- The Project of an Autonomous Robot Capable to Cooperate in a Group.- End-Effector Sensors’ Role in Service Robots.- Multiagent Systems.- Detecting Intruders in Complex Environments with Limited Range Mobile Sensors.- High-Level Motion Control for Workspace Sharing Mobile Robots.- Urban Traffic Control and Path Planning for Vehicles in Game Theoretic Framework.- A Low-Cost High Precision Time Measurement Infrastructure for Embedded Mobile Systems.

Über Autor(innen)

Professor Kozlowski and members of the International Program Committee have been working in the area of robotics and automation for many years. They have experience of various fields of robotics and have been working on control theory with applications in robotics for some time now.

Professor K. Kozlowski gained both his M.S. degree in electrical engineering and his Ph.D degree in control engineering from Poznan University of Technology, where he is currently a full professor of robotics and automation. He is the author of a book titled Modelling and Identification in Robotics (Springer-Verlag, 1998). He is on the editorial boards of several Polish and international journals (e.g. IEEE RAM, IEEE Trans. CST, Control Society Conference Editorial Board). He has served every year since 1995 on the ICRA Program Committee. He has worked as a program chair of the International Conference on Advanced Robotics (ICAR), 2001, Second International Workshop on Robot Motion and Control (RoMoCo), 2001, and vice chairman of the 7th IEEE Conference on Models in Automation and Robotics (MMAR), 2001.

He has been a Senior Member of the IEEE since 1988. In 2001 he was elected as a Chairman of the IEEE Robotics and Automation Chapter in Poland. He is a member of the Control Systems Society Chapter in Poland. He has served as an RAS AdCom member from 2000 till now. He plans to enlarge IEEE student and regular member participation in Poland and former Eastern European countries along with the conference activities in these countries (i.e. MMAR, RoMoCo) under the umbrella of both organisations.