04575nam 2201177z- 450 991055728670332120210501(CKB)5400000000041173(oapen)https://directory.doabooks.org/handle/20.500.12854/69061(oapen)doab69061(EXLCZ)99540000000004117320202105d2020 |y 0engurmn|---annantxtrdacontentcrdamediacrrdacarrierOptimization of Motion Planning and Control for Automatic Machines, Robots and Multibody SystemsBasel, SwitzerlandMDPI - Multidisciplinary Digital Publishing Institute20201 online resource (266 p.)3-03943-060-2 3-03943-061-0 The optimization of motion and trajectory planning is an effective and usually costless approach to improving the performance of robots, mechatronic systems, automatic machines and multibody systems. Indeed, wise planning increases precision and machine productivity, while reducing vibrations, motion time, actuation effort and energy consumption. On the other hand, the availability of optimized methods for motion planning allows for a cheaper and lighter system construction. The issue of motion planning is also tightly linked with the synthesis of high-performance feedback and feedforward control schemes, which can either enhance the effectiveness of motion planning or compensate for its gaps. To collect and disseminate a meaningful collection of these applications, this book proposes 15 novel research studies that cover different sub-areas, in the framework of motion planning and control.History of engineering and technologybicssca heuristic algorithmacceleration control of the center of massadaptive genetic algorithmbiped walkingcommand-filtered backsteppingcompliant robot motioncomposed control schemedissipative forcedisturbance observationdisturbance observerdynamic balancingdynamic gaitdynamic modelenergy efficiencyextended set-membership filterfin stabilizerflexible multibody systemsFOPD controllerforce feedbackfractional calculusfriction forcefully Cartesian coordinatesfunctional redundancygait planninggesture-based teleoperationhumanoid robothybrid navigation systemImpact and contactimproved artificial potential field methodinertial stability accuracylinearized modelslocation trajectorylow-speed performancemobile robotmodal analysismotion controlmotion designn/anatural coordinatesobstacle avoidance planningOESparallel manipulatorspassive modelpickup manipulatorpiecewise cubic Bézier curveprescribed performancequadruped robotrobotrobotic assemblyrobust estimationrotational sliprugged terrainshaking force balancingsix-legged robotsliding mode controlspeed observationstate-augmented Kalman filtersupportswingtrajectory optimizationunderwater vehicleunknown but bounded noiseUR5walk fastweighted-sum modelwhole robot controlwhole-body motion planningZMPHistory of engineering and technologyRichiedei Darioedt1324787Boscariol PaoloedtRichiedei DarioothBoscariol PaoloothBOOK9910557286703321Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems3036299UNINA