Essays on Mathematical Robotics (eBook, PDF)

Redaktion: Baillieul, John; Sussmann, Hector J.; Sastry, Shankar S.

• Format: PDF

Produktbeschreibung

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.

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Produktdetails

• Verlag: Springer US
• Seitenzahl: 379
• Erscheinungstermin: 6. Dezember 2012
• Englisch
• ISBN-13: 9781461217107
• Artikelnr.: 44045359

Autorenporträt

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.

Inhaltsangabe

The role of compliant fingerpads in grasping and manipulation: Identification and control.- Event-based planning and control for robotic systems: Theory and implementation.- The kinematics of hyper-redundant robots.- Line-integral estimates and motion planning using the continuation method.- Kinematic path planning for robots with holonomic and nonholonomic constraints.- A general approach to path planning for systems without drift.- Discontinuous stabilization of Brockett's canonical driftless system.- On feedback linearization of robot manipulators and Riemannian curvature.- Averaging and energy methods for robust open-loop control of mechanical systems.- Exterior differential systems in control and robotics.