Task Resolved Robust Control of Vehicle/manipulator Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Task Resolved Robust Control of Vehicle/manipulator Systems write by D. R. Yoerger. This book was released on 1987. Task Resolved Robust Control of Vehicle/manipulator Systems available in PDF, EPUB and Kindle.
Vehicle-Manipulator Systems
Vehicle-Manipulator Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Vehicle-Manipulator Systems write by Pål Johan From. This book was released on 2013-10-02. Vehicle-Manipulator Systems available in PDF, EPUB and Kindle. Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Robust Control Design for Active Driver Assistance Systems
Robust Control Design for Active Driver Assistance Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robust Control Design for Active Driver Assistance Systems write by Péter Gáspár. This book was released on 2016-11-18. Robust Control Design for Active Driver Assistance Systems available in PDF, EPUB and Kindle. This monograph focuses on control methods that influence vehicle dynamics to assist the driver in enhancing passenger comfort, road holding, efficiency and safety of transport, etc., while maintaining the driver’s ability to override that assistance. On individual-vehicle-component level the control problem is formulated and solved by a unified modelling and design method provided by the linear parameter varying (LPV) framework. The global behaviour desired is achieved by a judicious interplay between the individual components, guaranteed by an integrated control mechanism. The integrated control problem is also formalized and solved in the LPV framework. Most important among the ideas expounded in the book are: application of the LPV paradigm in the modelling and control design methodology; application of the robust LPV design as a unified framework for setting control tasks related to active driver assistance; formulation and solution proposals for the integrated vehicle control problem; proposal for a reconfigurable and fault-tolerant control architecture; formulation and solution proposals for the plug-and-play concept; detailed case studies. Robust Control Design for Active Vehicle Assistance Systems will be of interest to academic researchers and graduate students interested in automotive control and to control and mechanical engineers working in the automotive industry. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Modelling and Control of Mechatronic and Robotic Systems
Modelling and Control of Mechatronic and Robotic Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modelling and Control of Mechatronic and Robotic Systems write by Alessandro Gasparetto. This book was released on 2021-09-02. Modelling and Control of Mechatronic and Robotic Systems available in PDF, EPUB and Kindle. Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.
Undersea Vehicles and National Needs
Undersea Vehicles and National Needs - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Undersea Vehicles and National Needs write by National Research Council. This book was released on 1996-12-19. Undersea Vehicles and National Needs available in PDF, EPUB and Kindle. The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
