Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics)

01......Page 1
1 Introduction......Page 13
2.1 Kinematic Systems with First-Order Differential Constraints......Page 15
2.2 Dynamic Systems with First Order-Differential Constraints......Page 16
2.3 Dynamic Systems with Second-Order Differential Constraints......Page 18
3 Panning for Non-Flat Kinematic Systems......Page 19
3.1 The Plate-Ball Manipulaion System......Page 20
3.2 The Gerneral Two-Trailer Wheeled Mobile Robot......Page 26
4 Planning for Flat Dynamic Systems......Page 32
4.1 A Two-Link Robot with Flexible Forearm......Page 33
4.2 A Planar Robotwith Two Passive Joints......Page 41
5 Conclusion......Page 46
References......Page 47
1 Introduction......Page 51
2 Problem Data......Page 53
3.1 Prior Work......Page 55
3.2 A Generalized Result......Page 57
4 Measuring and Improving the Anti-Windup Performance......Page 58
5.1 Planar Positioning System......Page 61
5.2 Two-Link Planar Robot......Page 64
5.3 SCARA Robot......Page 69
6 Conclusion......Page 74
References......Page 75
1 Introduction......Page 76
2 Identification and Validation of the Model......Page 83
3 Friction Compensation: Experimental Results......Page 85
4 Conclusion......Page 87
References......Page 88
1 Introduction......Page 90
2 Rapid Prototyping......Page 92
2.1 Real-Time Systems......Page 93
2.2 Architectures, Characteristics and Requirements of Robot Prototyping Systems......Page 94
2.3 Prototyping Systems for Robotics......Page 96
2.4 Prototyping Tools......Page 98
3.1 The Robotic System......Page 101
3.2 The Control System Architecture......Page 103
3.3 The OpenDSP Software Architecture......Page 105
4 Description of a Test Cáse: Prototyping a Model-Based Compensation of Nonlinear Joint Friction......Page 106
5 Conclusion......Page 111
References......Page 112
1 Introduction......Page 113
2 Modelling......Page 115
3 Kalman Filtering......Page 117
4 BSP Tree Geometric Modelling......Page 118
5.1 Pre-Selection Algorithm......Page 121
5.2 Selection Algorithm......Page 122
6 Estimation Procedure......Page 126
7.1 Experimental Set-Up......Page 127
7.2 Experimental Results Using One Camera......Page 129
7.3 Experimental Results Using Two Cameras......Page 134
References......Page 136
Appendix......Page 138
1 Introduction......Page 140
3 The Motor Interface......Page 141
3.1 Position Decoding......Page 143
3.2 Generation of PWM......Page 144
3.3 ISA Bus Interfacing......Page 145
4 The Motor Control Algorithm......Page 147
5 THe RTLinux Architecture......Page 150
5.1 Ral Time Linux......Page 151
6 RTLinux Control Architecture and Communication Protocol......Page 152
6.2 Threads Architecture......Page 153
6.3 The Communication Protocol......Page 154
8 Conclusion......Page 155
References......Page 156
1 Introduction......Page 157
2 Control of a Fixed-Base Single Arm with Singularity Avoidance......Page 159
3 Control of a Single-Arm Nonholonomic Mobile Manipulator......Page 162
4 Control of a Dual-Arm Nonholonomic Mobile Manipulator......Page 165
5 Object Manipulation via Dual-Arm Nonholonomic Mobile Manipulator......Page 168
6 Simulation Results......Page 170
7 Conclusion......Page 171
References......Page 173
1Introduction......Page 177
1.1 The Pose Estimation Problem......Page 178
1.2 The Map Builing Problem......Page 179
1.3 Table of Contents......Page 180
2.2 Fiber Optic Gyroscope Measure......Page 181
2.3 Sonar Measures......Page 182
2.4 Video Camera Measures......Page 184
3.1 Extended Kalman Filter......Page 185
3.2 Adaptive Estimation of Q_d(k) and R(k)......Page 187
3.3 Sensor Readings Selection......Page 188
3.4 Pose Estimation by Fusion of Odometric and Inertial Measures......Page 189
3.5 Pose Estimation by Fusion of Odometric and Sonar Measures......Page 190
3.6 Pose Estimation by Odometric and Video Camera Measures......Page 193
4 Unltrasonic and Video Data Fusion for Map Builduing......Page 195
4.1 Line Detection by Video Camera......Page 196
4.2 Line Detection by Occupancy Grid......Page 198
4.3 Fusion of Occupancy Grid Line Features and Digital Image Line Features......Page 199
4.4 Experimental Results......Page 200
5 Conclusion......Page 204
References......Page 205
1 Introductionn......Page 209
2 Modeling of the SLAMS Problem......Page 210
3 Approaches to the SLAM Problem......Page 212
4 Solvability and Optimization of SLAM......Page 216
5 Simultaneous Localization and Servoing......Page 222
5.2 Visual Servoing......Page 223
6 Conclusion......Page 225
References......Page 226
11......Page 229