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By Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino

ISBN-10: 3642058655

ISBN-13: 9783642058653

This monograph offers an up to date resource of knowledge at the state-of-the-art in complex regulate of articulated and cellular robots. It comprises correct chosen difficulties facing stronger actuation, movement making plans and regulate capabilities for articulated robots, in addition to of sensory and self sustaining determination services for cellular robots. the fundamental notion at the back of the publication is to supply a bigger group of robot researchers and builders with a competent resource of data and cutting edge purposes within the box of keep watch over of cooperating and cellular robots. This ebook is the result of the examine undertaking MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 via the Italian Ministry for schooling, college and examine. The thorough dialogue, rigorous remedy, and large span of the offered paintings display the numerous advances within the theoretical origin and know-how foundation of the robotics box around the globe.

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Ne ) ∈ IR2+ne . The positive definite inertia matrix B(q) has the structure   b11 (θ2 , δ) b12 (θ2 , δ) b13 (θ2 ) . . b1,ne +2 (θ2 )   J2t 0 ... 0   ..   . 1 . B(q) =  .   .   . symm 0 1 T For later use, we define bδ = [ b13 . . b1,ne +2 ] . The nonlinear Coriolis and centrifugal vector n(q, q), ˙ quadratic in q, ˙ has the structure ˙ δ) ˙ n(q, q) ˙ = [ n1 (θ2 , δ, θ, n2 (θ2 , δ, θ˙1 ) n3 (θ2 , θ˙1 ) T nne +2 (θ2 , θ˙1 ) ] . T T We define also the subvectors nθ = [ n1 n2 ] and nδ = [ n3 .

In particular, we improve our work recently appeared in [10], where the ideas of [11] were employed to provide explicit anti-windup constructions for Euler-Lagrange systems. The goal of this chapter is twofold. The first goal is to clarify the construction suggested in [10] when applied to robotic manipulators (which is the main application field for the theory in [10]). The second and main goal is to revisit and improve the anti-windup laws of [10] to guarantee extreme performance levels on the saturated closed-loop system with anti-windup augmentation.

21, pp. 575–590, 2002. 18. A. De Luca, G. Oriolo, and C. -P. ), Robot Motion Planning and Control, pp. 171–253, Springer Verlag, 1998. 19. M. Fliess, J. L´evine, P. Martin, and P. Rouchon, “Flatness and defect of non-linear systems: Introductory theory and examples,” Int. J. of Control, vol. 61, pp. 1327–1361, 1995. 20. H. , Addison Wesley, 1980. 21. H. Hermes, “Nilpotent and high-order approximations of vector field systems,” SIAM Review, vol. 33, pp. 238–264, 1991. 22. S. Iannitti and A. De Luca, “Dynamic feedback control of XYnR planar robots with n rotational passive joints,” J.

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Advances in Control of Articulated and Mobile Robots (Springer Tracts in Advanced Robotics) by Bruno Siciliano, Alessandro de Luca, Claudio Melchiorri, Giuseppe Casalino


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