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Essays on Mathematical Robotics (The IMA Volumes in Mathematics and its Applications, 104) - Hardcover
Synopsis
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. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.
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- PublisherSpringer
- Publication date1998
- ISBN 10 0387985964
- ISBN 13 9780387985961
- BindingHardcover
- LanguageEnglish
- Number of pages388
- EditorBaillieul John, Sastry Shankar S., Sussmann Hector J.
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Essays on Mathematical Robotics
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Springer-Verlag New York Inc., 1998
ISBN 10: 0387985964
ISBN 13: 9780387985961
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Essays on Mathematical Robotics
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Condition: New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. 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 lo. Seller Inventory # 5913393
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Essays on Mathematical Robotics
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Springer New York, Springer US, 1998
ISBN 10: 0387985964
ISBN 13: 9780387985961
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Buch. Condition: Neu. Druck auf Anfrage Neuware - Printed after ordering - This IMA Volume in Mathematics and its Applications ESSAYS ON MATHEMATICAL ROBOTICS is based on the proceedings of a workshop that was an integral part of the 1992-93 IMA program on 'Control Theory.' The workshop featured a mathematicalintroductionto kinematics and fine motion planning; dynam ics and control of kinematically redundant robot arms including snake-like robots, multi-fingered robotic hands; methods of non-holonomic motion planning for space robots, multifingered robot hands and mobile robots; new techniques in analytical mechanics for writing the dynamics of com plicated multi-body systems subject to constraints on angular momentum or other non-holonomic constraints. In addition to papers representing proceedings of the Workshop, this volume contains several longer papers surveying developments of the intervening years. We thank John Baillieul, Shankar S. Sastry, and Hector J. Sussmann for organizing the workshop and editing the proceedings. We also take this opportunity to thank the National Science Foundation and the Army Research Office, whose financial support made the workshop possible. Avner Friedman Willard Miller, Jr. Seller Inventory # 9780387985961
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Essays on Mathematical Robotics
Published by
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ISBN 10: 0387985964
ISBN 13: 9780387985961
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