Robot Motion and Control 2007 1st Edition by Krzysztof R Kozlowski ISBN 1846289734 9781846289736 by Krzysztof R. Kozlowski 9781846289736, 1846289734 instant download after payment.

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ISBN 10: 1846289734 
ISBN 13: 9781846289736
Author: Krzysztof R Kozlowski

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.

Robot Motion and Control 2007 1st Table of contents:

1. Modelling and Trajectory Generation of Lighter-Than-Air Aerial Robots – Invited Paper
2. Introduction
3. Airship Modelling
4. Kinematics
5. Dynamics
6. Trajectory Generation
7. Trim Trajectories
8. Trim Trajectory Characterization
9. Trim Trajectories Calculation
10. Simulation Results
11. Straight Forward Trim Flight
12. Circular Trim Trajectories with Constant Altitude
13. Helicoidal Trim Trajectories
14. Under-Actuation at Low Velocity
15. Results for the Normalized Time
16. Conclusions
17. References
18. Control of 3 DOF Quadrotor Model
19. Introduction
20. Modelling of Quadrotor
21. Experimental Setup
22. Control Design
23. Optimal Control (LQR)
24. LQR with Gain Scheduling
25. Feedback Linearization
26. Sliding Mode Control
27. Simulations
28. Conclusions
29. References
30. Internal Model Control-Based Adaptive Attitude Tracking
31. Introduction
32. Spacecraft Model
33. Problem Statement
34. Controller Design
35. Plant Stabilization
36. PID Controller Design for the Stabilized Plant
37. Adaptive Controller Design
38. Internal Model Control – System Operation
39. Simulation Results
40. Conclusion
41. References
42. Tracking Control of Automated Guided Vehicles
43. Introduction
44. Modelling
45. Simulation Results
46. Conclusions
47. References
48. VFO Control for Mobile Vehicles in the Presence of Skid Phenomenon
49. Introduction
50. Problem Formulation
51. Skid Phenomenon
52. VFO Controller
53. VFO Strategy – Brief Recall
54. VFO Control with Skid Compensation
55. Skid Computation
56. Simulation Results
57. Concluding Remarks
58. References
59. Part II Vision-Based Control
60. Vision-Based Dynamic Velocity Field Generation for Mobile Robots
61. Introduction
62. Problem Overview
63. Dynamic Velocity Field Generation
64. Vision System
65. Initial Velocity Field Generation
66. Dynamic Velocity Field Modification
67. Results
68. Conclusions and Future Work
69. References
70. Zoom Control to Compensate Camera Translation Within a Robot Egomotion Estimation Approach
71. Introduction
72. Mapping Contour Deformations to Camera Motions
73. Generating Zoom Demands
74. Control and Egomotion Algorithm
75. Experimental Results
76. Conclusions and Future Work
77. References
78. Two-Finger Grasping for Vision Assisted Object Manipulation
79. Introduction
80. Visual Servoing with a Dynamic Set of SIFT Features
81. Grasp Point Selection
82. Experimental Results
83. Conclusion
84. References
85. Trajectory Planning with Control Horizon Based on Narrow Local Occupancy Grid Perception
86. Introduction
87. Local Perception Horizon and Trajectory Planning
88. A Practical Approach to WMR with Monocular Image Data
89. Image Perception and Physical Constraints
90. Dynamic Models and Trajectory Control
91. Conclusions
92. References
93. Part III New Control Algorithms for Robot Manipulators
94. Control for a Three-Joint Underactuated Planar Manipulator – Interconnection and Damping Assignmen
95. Introduction
96. IDA-PBC for Underactuated Mechanical Systems
97. Control of a 2R$a$-R$u$Planar Manipulator by IDA-PBC
98. PH Representation of Dynamics
99. Applicability of IDA-PBC and Derivation of Control Law
100. Numerical Experiments
101. Conclusions
102. References
103. A New Control Algorithm for Manipulators with Joint Flexibility
104. Introduction
105. A New Adaptive Control Algorithm
106. Mathematical Description of the System
107. The New Control Algorithm
108. Concluding Remarks
109. References
110. An Inverse Dynamics-Based Discrete-Time Sliding Mode Controller for Robot Manipulators
111. Introduction
112. The Considered Dynamical Model
113. The Inverse Dynamics Method
114. A Discrete-Time Sliding Mode Control Approach
115. An Alternative Discrete-Time Sliding Mode Control Approach
116. Experimental Verification
117. The Considered Industrial Rob ot
118. Experimental Results
119. Conclusions
120. References
121. Velocity Tracking Controller for Rigid Manipulators
122. Introduction
123. First-Order Equations of Motion Containing GVC
124. Velocity Tracking Controller Using GVC
125. Simulation Results
126. Concluding Remarks
127. References
128. Fixed Point Transformations-Based Approach in Adaptive Control of Smooth Systems
129. Introduction
130. Simple Iterative Approaches
131. Novel Iterative Approaches for SISO Systems
132. The Mathematical Model of the Cart – Pendulum System and Simulation Results
133. Conclusion
134. References
135. Driving Redundant Robots by a Dedicated Clutch-Based Actuator
136. Introduction
137. New Method of Actuating Hyper-Redundant Robots
138. Modeling Magnetic Clutch-Based Actuators
139. Controller Design, Simulation and Experiments
140. Conclusions
141. References
142. An Energy-Based Approach Towards Modeling of Mixed Reality Mechatronic Systems
143. Introduction
144. Mixed Reality Bond Graphs
145. Distributed Mixed Reality Haptic Ball Manipulator
146. Conclusion
147. References
148. Part IV New Trends in Kinematics and Localization Methods
149. Navigation of Autonomous Mobile Robots – Invited Paper
150. Introduction
151. Mapping and Localization
152. Sensor Fusion
153. Collision Avoidance
154. Trajectory Tracking
155. Mobile Robot Navigation Through Gates
156. Problem Description
157. Gate Identification Procedure and Signature Concept
158. Experimental Procedure
159. Control System
160. Results and Discussion
161. Results and Discussion
162. Conclusions
163. References
164. Kinematic Motion Patterns of Mobile Manipulators
165. Introduction
166. Main Idea
167. Kinematic Motion Patterns
168. Examples
169. Conclusion
170. References
171. Generalized Kinematic Control of Redundant Manipulators
172. Introduction
173. Kinematic Control of Redundant Manipulator
174. Tackling the Problem of Manipulator Singularity
175. Computer Example
176. Conclusions
177. References
178. Parametric Representation of the Environment of a Mobile Robot for Measurement Update in a Particle
179. Introduction and Related Work
180. Preliminaries: Particle Filter
181. Feature Selection
182. Definition of Features and Other Parameters
183. Data Collection
184. Statistical Analysis and Bootstrap Feature Selection
185. Multinomial Formulation
186. Extracting the Multinomial Parameters
187. Measurement Update
188. Experiments and Results
189. Setup and Scenarios for Data Collection
190. Model Extraction and Results Updates
191. Conclusion and Future Work
192. References
193. Simulation of a Mobile Robot with an LRF in a 2D Environment and Map Building
194. Introduction
195. Simulator
196. Robot Model
197. Environment Model
198. Laser Range-Finder Model
199. Mapping Algorithm
200. Integrating the Global Map with the Local Map
201. Results
202. Conclusion
203. References
204. Part V Trajectory Planning Issues for Nonholonomic Systems
205. Lie Algebraic Approach to Nonholonomic Motion Planning in Cluttered Environment
206. Introduction
207. Preliminaries
208. The Algorithm
209. Simulation Results
210. Conclusions
211. References
212. Computationally Efficient Path Planning for Wheeled Mobile Robots in Obstacle Dense Environments
213. Introduction
214. Kinematic Model and Problem Formulation
215. The Proposed Path Planner
216. Nonholonomic Steering Towards a Desired Target
217. Obstacle Detection and Avoidance
218. Extension for Large U-Blocks and Complicated Tunnels
219. Simulation Results
220. Conclusions
221. References
222. Piecewise-Constant Controls for Newtonian Nonholonomic Motion Planning
223. Introduction
224. The Newton Algorithm
225. Simultion Results
226. Conclusions
227. References
228. Path Following for Nonholonomic Mobile Manipulators
229. Introduction
230. Mathematical Model of Nonholonomic Mobile Manipulator of Type $(nh, h)$
231. Nonholonomic Constraints
232. Dynamics of Mobile Manipulator with Nonholonomic Platform
233. Control Problem Statement
234. Path Following for the Platform
235. Kinematic Controller – Pomet Algorithm
236. ath Following for the Manipulator
237. Dynamic Controller
238. Simulation Study
239. Conclusions
240. References
241. Part VI Rehabilitation Robotics
242. On Simulator Design of the Spherical Therapeutic Robot Koala
243. Introduction
244. Koala: Therapeutic Ball- obot
245. Virtual Koala and Sensory Signals Modelling
246. Implementation Issues
247. Conclusions
248. References
249. Development of Rehabilitation Training Support System Using 3D Force Display Robot
250. Introduction
251. Rehabilitation Training Support System
252. 3D Force Display Robot
253. Control Algorithms of Rehabilitation Training
254. Control Algorithm of Resistance Training
255. Control Algorithm Simulating Sanding Training
256. Teaching/ raining Function Algorithm
257. Conclusions
258. References
259. Applying CORBA Technology for the Teleoperation of Wheeeler
260. Introduction
261. Presentation of Wheeeler
262. The Main Concept
263. Distributed Controllers
264. Client-Server Communication
265. Short Review
266. CORBA Implementation
267. Simulation Time and Real Time Considerations
268. Further Developments
269. References
270. Part VII Humanoid Robots
271. Educational Walking Robots
272. Introduction
273. Educational Walking Robots – Mechanical Structures
274. Hexapod
275. Quadruped
276. New Control System
277. Experiments
278. Conclusions
279. References
280. Humanoid Binaural Sound Tracking Using Kalman Filtering and HRTFs
281. Introduction
282. Previous Localization Technique
283. Enhanced Localization Algorithm
284. Kalman Filtering and ROI Extraction
285. Simulation and Experimental Results
286. Stationary Sound Sources
287. Moving Sound Sources
288. Conclusion
289. References
290. Mechatronics of the Humanoid Robot ROMAN
291. Introduction
292. The Humanoid Robot ROMAN
293. Design Concept and Construction
294. Upper Body
295. Artificial Eyes
296. Neck
297. Robot Control Architecture
298. Conclusion and Outlook
299. References
300. Part VIII Applications of Robotic Systems
301. Assistive Feeding Device for Physically Handicapped Using Feedback Control
302. Introduction
303. Upper Arm Orthotic – Mobile Mount
304. Slave Arm Unit
305. Master/Interface Unit
306. Transmission System
307. Control System
308. Advantages
309. Upper Arm Orthotic – Stationary Mount
310. Power-Assist in Human Worn Assistive Devices
311. Virtual Prototyping
312. Conclusion
313. References
314. Design and Control of a Heating-Pipe Duct Inspection Mobile Robot
315. Introduction
316. Chassis Structure
317. Supporting Frame and Suspension
318. Driving System
319. Steering System
320. Control System Concept and Implementation
321. On-Board Controller
322. Energy Distribution Module
323. Conclusion
324. References
325. Measurement and Navigation System of the Inspection Robot RK-13
326. Introduction
327. Measurement and Control System Modules
328. Communication System – Hardware Layer
329. Measurement System
330. Vision System for Inspection and Navigation
331. Vision System for Inspection and Navigation
332. Localization of the Duct Inspection Robot with Use of the Vision System
333. Conclusions
334. References
335. Architecture of Multi-segmented Inspection Robot KAIRO-II
336. Introduction
337. System
338. Robot
339. Control Architecture: UCoM(Universal Controller Module)
340. Hybrid Impedance Control
341. Sensors
342. Integration and Results
343. Conclusion
344. References
345. The Project of an Autonomous Robot Capable to Cooperate in a Group
346. Introduction
347. The 2-Wheeled Mobile Robot Description
348. The Basic Assumptions Related to Model Kinematics
349. The Basic Assumptions Related to Path Planning
350. Conclusions
351. References
352. End-Effector Sensors’ Role in Service Robots
353. Introduction
354. Robot Controller
355. Position-Force Control
356. The Gripper and Its Sensors
357. Effector Controller
358. Experiments
359. Conclusions
360. References
361. Part IXMultiagent Systems
362. Detecting Intruders in Complex Environments with Limited Range Mobile Sensors
363. Introduction
364. Related Work
365. The Algorithm
366. Weighted Graph Clearing
367. Weighted Tree Clearing
368. Investigation of Performance
369. Discussion and Conclusion
370. References
371. High-Level Motion Control for Workspace Sharing Mobile Robots
372. Introduction
373. Problem Statement
374. Deterministic Finite State Automata
375. Discretization of Robot Motion Processes
376. DFSA Model of Distributed High-Level Control
377. Coordination of Multiple Robot Motion
378. Deadlock Avoidance
379. Conclusion
380. References
381. Urban Traffic Control and Path Planning for Vehicles in Game Theoretic Framework
382. Introduction
383. The Traffic Model
384. Urban Traffic Control
385. Path Planning Algorithms for Vehicles
386. Conclusions
387. References
388. A Low-Cost High Precision Time Measurement Infrastructure for Embedded Mobile Systems
389. Introduction and Overview
390. Architecture of the Application
391. Robocup F-180 Small Size League
392. Time Synchronisation with GPS
393. Existing Infrastructure
394. PPS-API
395. Wireless Dissemination of Time Signal
396. Measurements
397. Results of First Test Run
398. Techniques for Improvement
399. Conclusion

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Tags: Krzysztof R Kozlowski, Robot, Motion