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Essays on Mathematical Robotics /

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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...

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Bibliographic Details
Main Author: Baillieul, J. (John)
Corporate Author: SpringerLink (Online service)
Other Authors: Sastry, Shankar S., Sussmann, Hector J.
Format: eBook
Language:English
Published: New York, NY : Springer New York, 1998.
Series:IMA volumes in mathematics and its applications ; 104.
Subjects:
Mathematics.
System theory.
Mathematical optimization.
Electronic books.
Online Access:Connect to the full text of this electronic book
Table of Contents:
  • Foreword
  • Preface
  • The role of compliant fingerpads in grasping and manipulation: Identification and control
  • Event-based planning and control for robotic systems: Theory and implementation
  • The kinematics of hyper-redundant robots
  • Line-integral estimates and motion planning using the continuation method
  • Kinematic path planning for robots with holonomic and nonholonomic constraints
  • A general approach to path planning for systems without drift
  • Discontinuous stabilization of Brockett's canonical driftless system
  • On feedback linearization of robot manipulators and Riemannian curvature
  • Averaging and energy methods for robust open-loop control of mechanical systems
  • Exterior differential systems in control and robotics.