Robot Motion and Control 2007 [electronic resource] / edited by Krzysztof Kozłowski.

By: Kozłowski, Krzysztof [editor.]Contributor(s): SpringerLink (Online service)Material type: TextTextLanguage: English Series: Lecture Notes in Control and Information Sciences: 360Publisher: London : Springer London, 2007Description: XX, 452 p. 187 illus. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9781846289743Subject(s): Engineering | Artificial intelligence | Industrial engineering | Electronics | Engineering | Control | Artificial Intelligence (incl. Robotics) | Robotics and Automation | Industrial and Production Engineering | Automotive Engineering | Electronics and Microelectronics, InstrumentationAdditional physical formats: Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ212-225Online resources: Click here to access online
Contents:
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.
In: Springer eBooksSummary: "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.
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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.

"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.

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