Essays on Mathematical Robotics / Edition 1

Essays on Mathematical Robotics / Edition 1

by John Baillieul
     
 

The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems,

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Overview

The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.

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Product Details

ISBN-13:
9780387985961
Publisher:
Springer New York
Publication date:
09/01/1998
Series:
The IMA Volumes in Mathematics and its Applications, #104
Edition description:
1998
Pages:
379
Product dimensions:
0.94(w) x 9.21(h) x 6.14(d)

Related Subjects

Table of Contents

Foreword
Preface
The role of compliant fingerpads in grasping and manipulation: Identification and control1
Event-based planning and control for robotic systems: Theory and implementation31
The kinematics of hyper-redundant robots61
Line-integral estimates and motion planning using the continuation method91
Kinematic path planning for robots with holonomic and nonholonomic constraints127
A general approach to path planning for systems without drift151
Discontinuous stabilization of Brockett's canonical driftless system169
On feedback linearization of robot manipulators and Riemannian curvature185
Averaging and energy methods for robust open-loop control of mechanical systems203
Exterior differential systems in control and robotics271

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