Focusing on the foundations of robotics, this book delves into essential topics such as modeling, planning, and control. It addresses mobile robots, visual control, and motion planning, offering a comprehensive exploration of various challenges within the field. Through detailed problem-solving examples, it equips readers with the necessary tools to develop effective engineering solutions, making it a valuable resource for both students and professionals in robotics.
Focusing on the interaction between robots and their environment, the book explores effective force control strategies essential for successful robotic tasks. It covers both theoretical and experimental aspects of robot interaction control, emphasizing model-based operational space techniques like stiffness and impedance control for six-degree-of-freedom tasks. Additionally, it presents direct force control strategies through modified motion control schemes and advanced techniques such as passivity-based and adaptive control. All methods are validated through experiments on a seven-joint industrial robot equipped with force/torque sensors.
Focusing on the important control problems in state-of-the-art robotics and automation, this volume features invited papers from a workshop held at CDC, San Diego, California. As well as looking at current problems, it aims to identify and discuss challenging issues that are yet to be solved but which will be vital to future research directions. The many topics covered automatic control, distributed multi-agent control, multirobots, dexterous hands, flexible manipulators, walking robots, free-floating systems, nonholonomic robots, sensor fusion, fuzzy control, virtual reality, visual servoing, and task synchronization. Control Problems in Robotics and Automation will be of interest to all researchers, scientists and graduate students who wish to broaden their knowledge in robotics and automation and prepare themselves to address and resolve the control problems that will be faced in this field as we enter the twenty-first century.
This book uniquely blends fundamental and technological topics across nine chapters, gradually increasing in complexity. It covers kinematics, dynamics, trajectory planning, and control, alongside actuators, sensors, and control algorithms. With over 50 examples, case studies, and 80 exercises, it also includes appendices on linear algebra and mechanics, plus a solutions manual with MATLAB code.
Layered Programming by Demonstration and Planning for Autonomous Robot Manipulation.- Observation and Execution.- Human-Robot Interaction.- Innovative Technologies for the Next Generation of Robotic Hands.- Grasping and Control ofMulti-Fingered Hands.
Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.