RAMSETE:

Articulated and Mobile Robotics for Services and Technology

Salvatore Nicosia

Springer, 27 juin 2001 - 273 pages

This monograph stems out of the research project RAMSETE (Articulated and Mobile Robots for SErvices and TEchnologies). The main objective of this book is to provide robotic researchers and developers with a reliable and authoritative source, meaningful and feasible developments as well as significance and impact of new problems in the field. The monograph emphasises all the implementation aspects related to major robotic subsystems, i.e. both technology structures and specific methodologies. The study of robotic subsystems aimed at the integration in a single complex system, with autonomous motion capabilities, represents the current frontier of scientific research in the field of robotics.

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Table des matières

Strategies for Control and Coordination within Multiarm Systems	1

2 The Functional Architecture	3

3 An Example of Supporting Hw and Sw Architecture	6

4 The Low Level Control Layer	8

5 The Medium Level Control Layer	11

51 The TeleoperatedAutomatic Independent Motion Control of the Arms	12

52 The TeleoperatedAutomatic Coordinated Motion Control of the Arms	15

53 Interaction Control during Coordinated Motion	21

4 Cooperative Robots	135

42 Tight Cooperation	136

5 Experimental Validation	138

51 Single Manipulator	139

52 Loose Cooperation	148

53 Tight Cooperation	150

6 Conclusion and Future Directions	152

Impact Modelling and Control of Robotic Links	155

6 Comments on the Role of the High Level Control Layer	23

7 Conclusions	24

Modelling and Control of Servomechanisms	27

2 Modelling and Compensation of Torque Disturbances	29

22 Existing Solutions for Torque Minimisation	30

23 Torque Disturbance Model	31

25 Adaptive Identification of the Disturbance	33

26 Design of a Compensation Technique	34

27 Experimental Results	35

3 Modelling and Compensation of Load Oscillations	37

32 Existing Solutions for the Compensation of Load Oscillations	39

4 LQG Load Position Control	45

41 Design of the Optimal Controller	46

42 Design of the Kalman Filter	48

44 Experimental Results	50

5 Conclusions and Future Directions	51

Antonio Bicchi1 and Vijay Kumar2	55

2 Kinematics of Manipulation	57

3 Grasp Closure Properties	60

32 Force Closure	61

4 Dynamics	63

5 Stability	64

6 Contact Compliance	66

7 Grasping and the Kinematics of the Hand	67

9 Concluding Remarks	68

Claudio Melchiorri	75

2 An Overview on ForceTorque and Tactile Sensors	77

22 Tactile Sensors	79

23 Technology for Tactile Sensing	80

3 Examples of ForceTorque and Tactile Sensors	82

31 A Miniaturised Intrinsic Tactile Sensor	83

32 A Tactile Matrix Sensor	84

4 Slip Detection	87

42 Slip Detection with a Tactile and ForceTorque Sensor	89

43 Rotational and Translational Slip Detection	90

5 Experimental Results	93

51 Translational Slip Detection and Control	94

53 Manipulation Exploiting Friction	96

6 Conclusions	99

On Control of Flexible Robots	103

2 Modelling	104

23 RayleighRitz Methods	106

24 Finite Element Method	107

26 Remarks	108

31 PD Regulation	109

34 Fuzzy Regulation	110

36 Singular Perturbation	111

38 Input Shaping	112

4 Conclusion	117

Interaction Control	121

2 Motion Control	123

22 Motion Control in Task Space	124

3 SixDOF Impedance Control	126

31 Classical Impedance Control	127

32 Geometrically Consistent Impedance Control	129

33 Inner Motion Control Loop	132

34 Redundancy Resolution	133

2 Impact Modelling	157

22 General Approaches to Impact Modelling	158

3 Impact Control in Robotics	161

31 Some Old Experimental Switching Schemes	162

32 Integral Control Laws and Bouncing Problems	163

33 A Unique Control Law for Free Motion and Contact	165

41 A Control Scheme Based on Impact Effects Estimation	167

42 A Position Feedback Control Law	171

5 Conclusions	177

An Experimental Overview	181

11 Organization of Contents	182

2 Basic Motion Tasks	183

3 Modelling and Control Properties	184

31 Controllability at a Point	185

32 Controllability About a Trajectory	186

33 Feedback Linearisability	187

34 Chained Forms	188

SuperMARIO	189

42 Control System Architecture	190

43 Kinematics	191

44 Control Constraints	192

5 Trajectory Tracking	193

52 Linear Control Design	194

53 Nonlinear Control Design	195

54 Dynamic Feedback Linearisation	196

55 Experiments	199

6 Posture Stabilisation	204

62 Nonsmooth Timevarying Control	207

63 Control Based on Polar Coordinates	210

64 Dynamic Feedback Linearisation	215

7 Guidelines for Endusers	221

72 Future Directions	223

Landmark Recognition in Indoor Navigation by Fuzzy Maps and CBR	227

2 World Representation	228

3 The Overall Structure	230

4 Fuzzy Maps	231

5 Fuzzy Morphology	233

7 Wavelet Decomposition	235

71 Denoising with Wavelet	236

8 Similarity Metric	238

83 Wavelet Similarity	240

10 Combined Recognition	244

11 Experiments with Static Library and TBM	246

12 Conclusion and Future Developments	249

Sensor Fusion for Robot Localisation	251

2 Sensor Integration	254

22 Outdoor and Indoor Characterisation	257

31 Sensor Fusion With Known Statistics in a Centralised Architecture	258

32 Sensor Fusion With Known Statistics in a Decentralised Architecture	260

33 Sensor Fusion With Unknown Statistics	261

4 Localisation	262

42 The Extended Kalman Filter	264

43 Adaptive Extended Kalman Filter	266

44 Integrating Vision and Sonar	267

47 Multirobot Localisation	268

5 Conclusion and Future Directions	269

Droits d'auteur

Autres éditions - Tout afficher

RAMSETE: Articulated and Mobile Robotics for Services and Technology

Salvatore Nicosia (Professor.)
Aperçu limité - 2001

Lecture Notes in Control and Information Sciences

Aucun aperçu disponible - 2001

Expressions et termes fréquents

algorithm analysis applications approach architecture asymptotic asymptotic stability Bruno Siciliano Cartesian Casalino coefficient computed Conference on Robotics configuration constraints contact force control law control schemes control strategy coordinates dynamic feedback linearisation effector eigenvalues elastic end-effector environment error estimate Euler angles Experimental results feedforward Figure flexible link force sensors frame friction fuzzy geometric grasp IEEE International Conference IEEE Transactions impact control input integration interaction International Journal Inverse dynamics joint Journal of Robotics kinematic linear localisation matrix measure mechanical mobile robot motion control navigation Nicosia nonholonomic nonholonomic systems nonlinear normal force null space object orientation displacement parameters performance phase Posture stabilisation problem Proceedings quaternion reference robotic manipulation Robotics and Automation Robotics Research robust rotation matrix rotational Section sensor fusion solution sonar stability stiffness structure tactile sensor task techniques time-varying tion torque trajectory tracking Transactions on Robotics transfer function unicycle Universita degli Studi vector velocity zero

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Informations bibliographiques

Titre	RAMSETE: Articulated and Mobile Robotics for Services and Technology Engineering online library Volume 270 de Lecture Notes in Control and Information Sciences
Rédacteur	Salvatore Nicosia
Collaborateur	Salvatore Nicosia
Édition	illustrée
Éditeur	Springer, 2001
ISBN	3540420908, 9783540420903
Longueur	273 pages

Exporter la citation	BiBTeX EndNote RefMan

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