scientific article; zbMATH DE number 1196791
dynamic modelingfast-moving flexible robot dynamicsfeedback nilpotentizationfinite element methodidentificationIFAC symposiumKalman filterLyapunov's stabilitymanipulators with large elastic displacementsNantes (France)nonlinear PD controlProceedingsRobot controlsix-legged walking machineSymposiumtrajectory estimationstwo-step robust path-following controllerwheeled mobile robot
Proceedings of conferences of miscellaneous specific interest (00B25) Proceedings, conferences, collections, etc. pertaining to mechanics of particles and systems (70-06) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Vibrations in dynamical problems in solid mechanics (74H45) Control, switches and devices (``smart materials) in solid mechanics (74M05) Proceedings, conferences, collections, etc. pertaining to systems and control theory (93-06)
The book reflects the modern state-of-the-art of robot control and consists nearly of one hundred and twenty papers. The papers are devoted to a wide area of robot control problems, such as modeling and identification, stability, adaptive and learning robots, teleoperation, computer vision, nonholonomic robotic systems, walking robots, flexible robots, and so on. A brief list of discussed problems contains the following topics: trajectory estimations and correction of a wheeled mobile robot by using a heterogeneous sensor and Kalman filter; a two-step robust path-following controller for wheeled robots; approximate tracking for systems on three-dimensional matrix Lie groups via feedback nilpotentization; Lyapunov's stability; geometric modeling of manipulators with large elastic displacements and rotations; fast-moving flexible robot dynamics; finite element method in robot dynamics; nonlinear PD control with incomplete state knowledge: damping without derivatives; PD control of closed-chain mechanical systems; control of a quadruped walking robot without feet for a gallop gait; control of a six-legged walking machine; dynamic modeling and identification of a hydraulic servoactuator; identification methodology for a robot with flexible arms. The book may be useful for engineers, for postgraduate students learning robot control, and for applied scientists who work out robotic constructions and their control and stabilization algorithms.
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