Fundamentals in Modeling and Control of Mobile Manipulators
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Fundamentals in Modeling and Control of Mobile Manipulators
Li, Zhijun; Ge, Shuzhi Sam
Taylor & Francis Ltd
03/2017
296
Mole
Inglês
9781138074361
15 a 20 dias
453
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Introduction: Mobile Manipulator Systems. Background and Motivations. Outline of the Book. Kinematics and Dynamics: Introduction. Kinematics of Mobile Platform. Kinematics of Robotic Manipulators. Dynamics of Mobile Manipulators. Dynamics in Cartesian Space. Conclusion. Path Planning and Motion Generation: Path Planning of Mobile Manipulators. Path Planning of Coordinated Mobile Manipulators. Conclusion. Model-Based Control: Introduction. System Description. Model Reference Control. Simulation Studies. Conclusion. Adaptive Robust Hybrid Motion/Force Control: Adaptive Robust Hybrid Motion/Force Control. Adaptive Robust Output-feedback Control with Actuator Dynamics. Adaptive Robust Hybrid Position/Force Control. Conclusion. Under-actuated Control: Introduction. System Description. High-gain Observer. Adaptive Output Feedback Control. Simulation Studies. Conclusion. Coordination Control: Centralized Coordination Control. Decentralized Coordination. Conclusion. Cooperation Control: Introduction. Description of Interconnected System. Centralized Robust Adaptive Controls Design. Simulation Studies. Conclusion. Appendix: Example of 2-DOF Wheeled Mobile Manipulator. Example of 3-DOF Mobile Manipulator. Bibliography. Index.
Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.
Mobile Manipulator;Nonholonomic Constraints;mobile manipulators;Mobile Platform;mobile manipulator systems;DOF;robotics;Holonomic Constraints;automation;Robust Adaptive Control;advanced robotics;Robotic Manipulators;fundamentals of robotics control;Lyapunov Synthesis;robotics control;Cos ?1 Sin ?2;nonlinear control;Adaptive Control;LTL;kinematics and dynamics;Cos ?1 Cos ?2;path planning;Input Output Feedback Linearization;motion generation;Tracking Errors;adaptive robust hybrid motion/force control;Sin ?1 Sin ?2;under-actuated control;Mobile Robot;coordination control;?1 Cos ?2;cooperation control;Sin ?2;?1 Sin ?2;Sin ?2 Cos;Output Feedback Control;Cos ?2;Robust Adaptive Control Law;Adaptive Output Feedback Control;Force Control
Introduction: Mobile Manipulator Systems. Background and Motivations. Outline of the Book. Kinematics and Dynamics: Introduction. Kinematics of Mobile Platform. Kinematics of Robotic Manipulators. Dynamics of Mobile Manipulators. Dynamics in Cartesian Space. Conclusion. Path Planning and Motion Generation: Path Planning of Mobile Manipulators. Path Planning of Coordinated Mobile Manipulators. Conclusion. Model-Based Control: Introduction. System Description. Model Reference Control. Simulation Studies. Conclusion. Adaptive Robust Hybrid Motion/Force Control: Adaptive Robust Hybrid Motion/Force Control. Adaptive Robust Output-feedback Control with Actuator Dynamics. Adaptive Robust Hybrid Position/Force Control. Conclusion. Under-actuated Control: Introduction. System Description. High-gain Observer. Adaptive Output Feedback Control. Simulation Studies. Conclusion. Coordination Control: Centralized Coordination Control. Decentralized Coordination. Conclusion. Cooperation Control: Introduction. Description of Interconnected System. Centralized Robust Adaptive Controls Design. Simulation Studies. Conclusion. Appendix: Example of 2-DOF Wheeled Mobile Manipulator. Example of 3-DOF Mobile Manipulator. Bibliography. Index.
Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.
Mobile Manipulator;Nonholonomic Constraints;mobile manipulators;Mobile Platform;mobile manipulator systems;DOF;robotics;Holonomic Constraints;automation;Robust Adaptive Control;advanced robotics;Robotic Manipulators;fundamentals of robotics control;Lyapunov Synthesis;robotics control;Cos ?1 Sin ?2;nonlinear control;Adaptive Control;LTL;kinematics and dynamics;Cos ?1 Cos ?2;path planning;Input Output Feedback Linearization;motion generation;Tracking Errors;adaptive robust hybrid motion/force control;Sin ?1 Sin ?2;under-actuated control;Mobile Robot;coordination control;?1 Cos ?2;cooperation control;Sin ?2;?1 Sin ?2;Sin ?2 Cos;Output Feedback Control;Cos ?2;Robust Adaptive Control Law;Adaptive Output Feedback Control;Force Control
