Essays on Mathematical Robotics: 104 (The IMA Volumes in Mathematics and its Applications) - Hardcover

 
9780387985961: Essays on Mathematical Robotics: 104 (The IMA Volumes in Mathematics and its Applications)
Hardcover
ISBN 10: 0387985964 ISBN 13: 9780387985961
Verlag: Springer, 1998

Inhaltsangabe

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.

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Reseña del editor

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.

Reseña del editor

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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Verlag
Springer
Erscheinungsdatum
1998
Sprache
Englisch
ISBN 10 
0387985964
ISBN 13 
9780387985961
Einband
Tapa dura
Anzahl der Seiten
396
Herausgeber
Sussmann Hector J., Baillieul John, Sastry Shankar S.
Kontakt zum Hersteller
Nicht verfügbar
Verantwortliche Person
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Weitere beliebte Ausgaben desselben Titels

9781461272519: Essays on Mathematical Robotics: 104 (The IMA Volumes in Mathematics and its Applications)

Vorgestellte Ausgabe

ISBN 10:  1461272513 ISBN 13:  9781461272519
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Softcover