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Mobile manipulators combine the advantages of mobile platforms and
robotic arms, extending their operational range and functionality
to large spaces and remote, demanding, and/or dangerous
environments. They also bring complexity and difficulty in dynamic
modeling and control system design. However, advances in nonlinear
system analysis and control system design offer powerful tools and
concepts for the control of mobile manipulator systems.
Fundamentals in Modeling and Control of Mobile Manipulators
presents a thorough theoretical treatment of several fundamental
problems for mobile robotic manipulators. The book integrates fresh
concepts and state-of-the-art results to systematically examine
kinematics and dynamics, motion generation, feedback control,
coordination, and cooperation. From this treatment, the authors
form a basic theoretical framework for a mobile robotic manipulator
that extends the theory of nonlinear control and applies to more
realistic problems. Drawing on their research over the past ten
years, the authors propose novel control theory concepts and
techniques to tackle key problems. Topics covered include kinematic
and dynamic modeling, control of nonholonomic systems, path
planning that considers motion and manipulation, hybrid
motion/force control and hybrid position/force control where the
mobile manipulator is required to interact with environments, and
coordination and cooperation strategies for multiple mobile
manipulators. The book also includes practical examples of
applications in engineering systems. This timely book investigates
important scientific and engineering issues for researchers and
engineers working with either single or multiple mobile
manipulators for larger operational space, better cooperation, and
improved productivity.
This book describes a unified framework for networked teleoperation
systems involving multiple research fields: networked control
systems for linear and nonlinear forms, bilateral teleoperation,
trilateral teleoperation, multilateral teleoperation and
cooperative teleoperation. It closely examines networked control as
a field at the intersection of systems & control and robotics
and presents a number of experimental case studies on testbeds for
robotic systems, including networked haptic devices, robotic
network systems and sensor network systems. The concepts and
results outlined are easy to understand, even for readers fairly
new to the subject. As such, the book offers a valuable reference
work for researchers and engineers in the fields of systems &
control and robotics.
Advanced Control of Wheeled Inverted Pendulum Systems is an orderly
presentation of recent ideas for overcoming the complications
inherent in the control of wheeled inverted pendulum (WIP) systems,
in the presence of uncertain dynamics, nonholonomic kinematic
constraints as well as underactuated configurations. The text leads
the reader in a theoretical exploration of problems in kinematics,
dynamics modeling, advanced control design techniques and
trajectory generation for WIPs. An important concern is how to deal
with various uncertainties associated with the nominal model, WIPs
being characterized by unstable balance and unmodelled dynamics and
being subject to time-varying external disturbances for which
accurate models are hard to come by. The book is self-contained,
supplying the reader with everything from mathematical
preliminaries and the basic Lagrange-Euler-based derivation of
dynamics equations to various advanced motion control and force
control approaches as well as trajectory generation method.
Although primarily intended for researchers in robotic control,
Advanced Control of Wheeled Inverted Pendulum Systems will also be
useful reading for graduate students studying nonlinear systems
more generally.
Advanced Control of Wheeled Inverted Pendulum Systems is an orderly
presentation of recent ideas for overcoming the complications
inherent in the control of wheeled inverted pendulum (WIP) systems,
in the presence of uncertain dynamics, nonholonomic kinematic
constraints as well as underactuated configurations. The text leads
the reader in a theoretical exploration of problems in kinematics,
dynamics modeling, advanced control design techniques and
trajectory generation for WIPs. An important concern is how to deal
with various uncertainties associated with the nominal model, WIPs
being characterized by unstable balance and unmodelled dynamics and
being subject to time-varying external disturbances for which
accurate models are hard to come by. The book is self-contained,
supplying the reader with everything from mathematical
preliminaries and the basic Lagrange-Euler-based derivation of
dynamics equations to various advanced motion control and force
control approaches as well as trajectory generation method.
Although primarily intended for researchers in robotic control,
Advanced Control of Wheeled Inverted Pendulum Systems will also be
useful reading for graduate students studying nonlinear systems
more generally.
Mobile manipulators combine the advantages of mobile platforms and
robotic arms, extending their operational range and functionality
to large spaces and remote, demanding, and/or dangerous
environments. They also bring complexity and difficulty in dynamic
modeling and control system design. However, advances in nonlinear
system analysis and control system design offer powerful tools and
concepts for the control of mobile manipulator systems.
Fundamentals in Modeling and Control of Mobile Manipulators
presents a thorough theoretical treatment of several fundamental
problems for mobile robotic manipulators. The book integrates fresh
concepts and state-of-the-art results to systematically examine
kinematics and dynamics, motion generation, feedback control,
coordination, and cooperation. From this treatment, the authors
form a basic theoretical framework for a mobile robotic manipulator
that extends the theory of nonlinear control and applies to more
realistic problems. Drawing on their research over the past ten
years, the authors propose novel control theory concepts and
techniques to tackle key problems. Topics covered include kinematic
and dynamic modeling, control of nonholonomic systems, path
planning that considers motion and manipulation, hybrid
motion/force control and hybrid position/force control where the
mobile manipulator is required to interact with environments, and
coordination and cooperation strategies for multiple mobile
manipulators. The book also includes practical examples of
applications in engineering systems. This timely book investigates
important scientific and engineering issues for researchers and
engineers working with either single or multiple mobile
manipulators for larger operational space, better cooperation, and
improved productivity.
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