By Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino
This monograph offers an up to date resource of knowledge at the state-of-the-art in complicated regulate of articulated and cellular robots. It contains correct chosen difficulties facing more desirable actuation, movement making plans and keep an eye on services for articulated robots, in addition to of sensory and self sustaining determination services for cellular robots. the fundamental thought in the back of the booklet is to supply a bigger neighborhood of robot researchers and builders with a competent resource of data and cutting edge purposes within the box of keep an eye on of cooperating and cellular robots. This e-book is the result of the study 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, collage and examine. The thorough dialogue, rigorous therapy, and extensive span of the provided paintings show the numerous advances within the theoretical beginning and expertise foundation of the robotics box world wide.
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Additional resources for Advances in Control of Articulated and Mobile Robots
238–264, 1991. 22. S. Iannitti and A. De Luca, “Dynamic feedback control of XYnR planar robots with n rotational passive joints,” J. of Robotic Systems, vol. 20, pp. 251–270, 2003. 23. A. , Springer Verlag, 1995. 24. V. Jurdjevic, “The geometry of the plate-ball problem,” Arch. for Rational Mechanics and Analysis, vol. 124, pp. 305–328, 1993. 25. G. J. Sussmann, “A differential geometric approach to motion planning,” in Z. Li and J. F. ), Nonholonomic Motion Planning, pp. 235–270. Kluwer Academic Publishers, 1992.
6442 rad/s). We have considered the following rest-to-rest motion task: θ1i = θ2i = 0 θ1f = θ2f = 90◦ T = 2 s. For each output component in eq. (35), an 11-th order polynomial, with zero symmetric boundary conditions on its derivatives up to the fifth one, has been selected as desired trajectory. This guarantees also boundary continuity, at t = 0 and t = T , of the rest-to-rest torques and of their first time derivative. The results in Figs. 11–13 indicate a natural behavior, with bounded deformation in the linearity domain and maximum torques within the actuators capabilities.
Figure 9 shows the time evolution of the state variables. Figure 10 reports the Cartesian motion of the first trailer and the configurations of the vehicle at the beginning of phase II, at the end of the first and of the 15-th iteration. 5 -2 0 5 10 sec 15 -1 0 5 10 sec 15 Fig. 7. Simulation 1: Evolution of x1 , y1 and θ1 (left). Evolution of φ1 and φ2 (right). 5 2 -3 -3 0 -2 -1 0 1 2 3 Fig. 8. Simulation 1: Motion of the first trailer (left). Configuration of the vehicle at the beginning of phase II (0) after one iteration (1) and after 15 iterations (right).
Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino