Simulation, modeling, and programming for autonomous robots : first international conference, simpar 2008 venice, italy, november 3-7, 2008. Proceedings / / edited by Stefano Carpin, 3 others |
Edizione | [1st ed. 2008.] |
Pubbl/distr/stampa | New York, New York : , : Springer, , [2008] |
Descrizione fisica | 1 online resource (XI, 354 p.) |
Disciplina | 629.89263 |
Collana | Lecture Notes in Artificial Intelligence |
Soggetto topico |
Autonomous robots
Robots - Control systems |
ISBN | 3-540-89076-9 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto | Invited Talks -- Simulation, Modeling and Programming for Autonomous Robots: The Open Source Perspective -- Studies on Humanlike Robots – Humanoid, Android and Geminoid -- Modeling, Understanding, and Interacting with Humans -- Humanoids, Brain and Cognitive Sciences -- Simulation -- XPERSim: A Simulator for Robot Learning by Experimentation -- From Simulated to Real Scenarios: A Framework for Multi-UAVs -- Simulation of Multi-Robot Teams with Flexible Level of Detail -- MM-ulator: Towards a Common Evaluation Platform for Mixed Mode Environments -- A Multi-agent 3D Simulation Environment for Clothing Industry -- A Lunar Surface Operations Simulator -- YARS: A Physical 3D Simulator for Evolving Controllers for Real Robots -- Programming -- A Software Platform for Component Based RT-System Development: OpenRTM-Aist -- A Software System for Robotic Learning by Experimentation -- A Mobile Robot Control Framework: From Simulation to Reality -- Implementing Flexible Parallelism for Modular Self-reconfigurable Robots -- Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments -- Knowledge Processing Middleware -- Towards Automated Online Diagnosis of Robot Navigation Software -- A Common Framework for Co-operative Robotics: An Open, Fault Tolerant Architecture for Multi-league RoboCup Teams -- Multilevel Testing of Control Software for Teams of Autonomous Mobile Robots -- ppPDC Communication Framework – A New Tool for Distributed Robotics -- The Experimental Robotics Framework -- Applications -- Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications -- An Emphatic Humanoid Robot with Emotional Latent Semantic Behavior -- Developing Robot Motions by Simulated Touch Sensors -- 3D Simulation of a Motorized Operation Microscope -- Real-Time Least-Square Fitting of Ellipses Applied to the RobotCub Platform -- An Introduction to a New Commentator for RoboCup 3D Soccer Simulation -- Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators -- Rescue Robot Navigation: Static Stability Estimation in Random Step Environment -- Performance Evaluation of Repeated Auctions for Robust Task Execution -- Conceptual Framework to Maintain Multiple and Floating Relationship among Coordinate Reference Systems for Robotics -- Conceptual Design of a Power Distribution Line Maintenance Robot Using a Developed CG Simulator and Experimental Robot System. |
Altri titoli varianti | SIMPAR 2008 |
Record Nr. | UNISA-996465899603316 |
New York, New York : , : Springer, , [2008] | ||
Materiale a stampa | ||
Lo trovi qui: Univ. di Salerno | ||
|
Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
Autore | Wang Zhan |
Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
Descrizione fisica | 1 online resource (208 p.) |
Disciplina | 629.892637 |
Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
Collana | New frontiers in robotics |
Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
Soggetto genere / forma | Electronic books. |
ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents; Preface; Acknowledgments; Chapter 1 Introduction; 1.1 The SLAM Problem and Its Applications; 1.1.1 Description of the SLAM Problem; 1.1.2 Applications of SLAM; 1.2 Summary of SLAM Approaches; 1.2.1 EKF/EIF based SLAM Approaches; 1.2.2 Other SLAM Approaches; 1.3 Key Properties of SLAM; 1.3.1 Observability; 1.3.2 EKF SLAM Convergence; 1.3.3 EKF SLAM Consistency; 1.4 Motivation; 1.5 Book Overview; Chapter 2 Sparse Information Filters in SLAM; 2.1 Information Matrix in the Full SLAM Formulation; 2.2 Information Matrix in the Conventional EIF SLAM Formulation
2.3 Meaning of Zero Off-diagonal Elements in Information Matrix2.4 Conditions for Achieving Exact Sparseness; 2.5 Strategies for Achieving Exact Sparseness; 2.5.1 Decoupling Localization and Mapping; 2.5.2 Using Local Submaps; 2.5.3 Combining Decoupling and Submaps; 2.6 Important Practical Issues in EIF SLAM; 2.7 Summary; Chapter 3 Decoupling Localization and Mapping; 3.1 The D-SLAM Algorithm; 3.1.1 Extracting Map Information from Observations; 3.1.2 Key Idea of D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 Efficient State and Covariance Recovery3.3.1 Recovery Using the Preconditioned Conjugated Gradient (PCG) Method; 3.3.2 Recovery Using Complete Cholesky Factorization; 3.4 Implementation Issues; 3.4.1 Admissible Measurements; 3.4.2 Data Association; 3.5 Computer Simulations; 3.6 Experimental Evaluation; 3.6.1 Experiment in a Small Environment; 3.6.2 Experiment Using the Victoria Park Dataset; 3.7 Computational Complexity; 3.7.1 Storage; 3.7.2 Localization; 3.7.3 Mapping; 3.7.4 State and Covariance Recovery; 3.8 Consistency of D-SLAM; 3.9 Bibliographical Remarks; 3.10 Summary Chapter 4 D-SLAM Local Map Joining Filter4.1 Structure of D-SLAM Local Map Joining Filter; 4.1.1 State Vectors; 4.1.2 Relative Information Relating Feature Locations; 4.1.3 Combining Local Maps Using Relative Information; 4.2 Obtaining Relative Location Information in Local Maps; 4.2.1 Generating a Local Map; 4.2.2 Obtaining Relative Location Information in the Local Map; 4.3 Global Map Update; 4.3.1 Measurement Model; 4.3.2 Updating the Global Map; 4.3.3 Sparse Information Matrix; 4.4 Implementation Issues; 4.4.1 Robot Localization; 4.4.2 Data Association; 4.4.3 State and Covariance Recovery 4.4.4 When to Start a New Local Map4.5 Computational Complexity; 4.5.1 Storage; 4.5.2 Local Map Construction; 4.5.3 Global Map Update; 4.5.4 Rescheduling the Computational Effort; 4.6 Computer Simulations; 4.6.1 Simulation in a Small Area; 4.6.2 Simulation in a Large Area; 4.7 Experimental Evaluation; 4.8 Bibliographical Remarks; 4.9 Summary; Chapter 5 Sparse Local Submap Joining Filter; 5.1 Structure of Sparse Local Submap Joining Filter; 5.1.1 Input to SLSJF - Local Maps; 5.1.2 Output of SLSJF - One Global Map; 5.2 Fusing Local Maps into the Global Map 5.2.1 Adding XG(k+1)s into the Global Map |
Record Nr. | UNINA-9910464543603321 |
Wang Zhan | ||
Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Simultaneous localization and mapping [[electronic resource] ] : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
Autore | Wang Zhan |
Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
Descrizione fisica | 1 online resource (208 p.) |
Disciplina | 629.892637 |
Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
Collana | New frontiers in robotics |
Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents; Preface; Acknowledgments; Chapter 1 Introduction; 1.1 The SLAM Problem and Its Applications; 1.1.1 Description of the SLAM Problem; 1.1.2 Applications of SLAM; 1.2 Summary of SLAM Approaches; 1.2.1 EKF/EIF based SLAM Approaches; 1.2.2 Other SLAM Approaches; 1.3 Key Properties of SLAM; 1.3.1 Observability; 1.3.2 EKF SLAM Convergence; 1.3.3 EKF SLAM Consistency; 1.4 Motivation; 1.5 Book Overview; Chapter 2 Sparse Information Filters in SLAM; 2.1 Information Matrix in the Full SLAM Formulation; 2.2 Information Matrix in the Conventional EIF SLAM Formulation
2.3 Meaning of Zero Off-diagonal Elements in Information Matrix2.4 Conditions for Achieving Exact Sparseness; 2.5 Strategies for Achieving Exact Sparseness; 2.5.1 Decoupling Localization and Mapping; 2.5.2 Using Local Submaps; 2.5.3 Combining Decoupling and Submaps; 2.6 Important Practical Issues in EIF SLAM; 2.7 Summary; Chapter 3 Decoupling Localization and Mapping; 3.1 The D-SLAM Algorithm; 3.1.1 Extracting Map Information from Observations; 3.1.2 Key Idea of D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 Efficient State and Covariance Recovery3.3.1 Recovery Using the Preconditioned Conjugated Gradient (PCG) Method; 3.3.2 Recovery Using Complete Cholesky Factorization; 3.4 Implementation Issues; 3.4.1 Admissible Measurements; 3.4.2 Data Association; 3.5 Computer Simulations; 3.6 Experimental Evaluation; 3.6.1 Experiment in a Small Environment; 3.6.2 Experiment Using the Victoria Park Dataset; 3.7 Computational Complexity; 3.7.1 Storage; 3.7.2 Localization; 3.7.3 Mapping; 3.7.4 State and Covariance Recovery; 3.8 Consistency of D-SLAM; 3.9 Bibliographical Remarks; 3.10 Summary Chapter 4 D-SLAM Local Map Joining Filter4.1 Structure of D-SLAM Local Map Joining Filter; 4.1.1 State Vectors; 4.1.2 Relative Information Relating Feature Locations; 4.1.3 Combining Local Maps Using Relative Information; 4.2 Obtaining Relative Location Information in Local Maps; 4.2.1 Generating a Local Map; 4.2.2 Obtaining Relative Location Information in the Local Map; 4.3 Global Map Update; 4.3.1 Measurement Model; 4.3.2 Updating the Global Map; 4.3.3 Sparse Information Matrix; 4.4 Implementation Issues; 4.4.1 Robot Localization; 4.4.2 Data Association; 4.4.3 State and Covariance Recovery 4.4.4 When to Start a New Local Map4.5 Computational Complexity; 4.5.1 Storage; 4.5.2 Local Map Construction; 4.5.3 Global Map Update; 4.5.4 Rescheduling the Computational Effort; 4.6 Computer Simulations; 4.6.1 Simulation in a Small Area; 4.6.2 Simulation in a Large Area; 4.7 Experimental Evaluation; 4.8 Bibliographical Remarks; 4.9 Summary; Chapter 5 Sparse Local Submap Joining Filter; 5.1 Structure of Sparse Local Submap Joining Filter; 5.1.1 Input to SLSJF - Local Maps; 5.1.2 Output of SLSJF - One Global Map; 5.2 Fusing Local Maps into the Global Map 5.2.1 Adding XG(k+1)s into the Global Map |
Record Nr. | UNINA-9910788963203321 |
Wang Zhan | ||
Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Simultaneous localization and mapping : exactly sparse information filters / / Zhan Wang, Shoudong Huang, Gamini Dissanayake |
Autore | Wang Zhan |
Edizione | [1st ed.] |
Pubbl/distr/stampa | Singapore ; ; Hackensack, N.J., : World Scientific, c2011 |
Descrizione fisica | 1 online resource (208 p.) |
Disciplina | 629.892637 |
Altri autori (Persone) |
HuangShoudong <1969->
DissanayakeGamini |
Collana | New frontiers in robotics |
Soggetto topico |
Mobile robots
Robots - Control systems Sparse matrices Robotics Mappings (Mathematics) |
ISBN |
1-283-43379-6
9786613433794 981-4350-32-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents; Preface; Acknowledgments; Chapter 1 Introduction; 1.1 The SLAM Problem and Its Applications; 1.1.1 Description of the SLAM Problem; 1.1.2 Applications of SLAM; 1.2 Summary of SLAM Approaches; 1.2.1 EKF/EIF based SLAM Approaches; 1.2.2 Other SLAM Approaches; 1.3 Key Properties of SLAM; 1.3.1 Observability; 1.3.2 EKF SLAM Convergence; 1.3.3 EKF SLAM Consistency; 1.4 Motivation; 1.5 Book Overview; Chapter 2 Sparse Information Filters in SLAM; 2.1 Information Matrix in the Full SLAM Formulation; 2.2 Information Matrix in the Conventional EIF SLAM Formulation
2.3 Meaning of Zero Off-diagonal Elements in Information Matrix2.4 Conditions for Achieving Exact Sparseness; 2.5 Strategies for Achieving Exact Sparseness; 2.5.1 Decoupling Localization and Mapping; 2.5.2 Using Local Submaps; 2.5.3 Combining Decoupling and Submaps; 2.6 Important Practical Issues in EIF SLAM; 2.7 Summary; Chapter 3 Decoupling Localization and Mapping; 3.1 The D-SLAM Algorithm; 3.1.1 Extracting Map Information from Observations; 3.1.2 Key Idea of D-SLAM; 3.1.3 Mapping; 3.1.4 Localization; 3.2 Structure of the Information Matrix in D-SLAM 3.3 Efficient State and Covariance Recovery3.3.1 Recovery Using the Preconditioned Conjugated Gradient (PCG) Method; 3.3.2 Recovery Using Complete Cholesky Factorization; 3.4 Implementation Issues; 3.4.1 Admissible Measurements; 3.4.2 Data Association; 3.5 Computer Simulations; 3.6 Experimental Evaluation; 3.6.1 Experiment in a Small Environment; 3.6.2 Experiment Using the Victoria Park Dataset; 3.7 Computational Complexity; 3.7.1 Storage; 3.7.2 Localization; 3.7.3 Mapping; 3.7.4 State and Covariance Recovery; 3.8 Consistency of D-SLAM; 3.9 Bibliographical Remarks; 3.10 Summary Chapter 4 D-SLAM Local Map Joining Filter4.1 Structure of D-SLAM Local Map Joining Filter; 4.1.1 State Vectors; 4.1.2 Relative Information Relating Feature Locations; 4.1.3 Combining Local Maps Using Relative Information; 4.2 Obtaining Relative Location Information in Local Maps; 4.2.1 Generating a Local Map; 4.2.2 Obtaining Relative Location Information in the Local Map; 4.3 Global Map Update; 4.3.1 Measurement Model; 4.3.2 Updating the Global Map; 4.3.3 Sparse Information Matrix; 4.4 Implementation Issues; 4.4.1 Robot Localization; 4.4.2 Data Association; 4.4.3 State and Covariance Recovery 4.4.4 When to Start a New Local Map4.5 Computational Complexity; 4.5.1 Storage; 4.5.2 Local Map Construction; 4.5.3 Global Map Update; 4.5.4 Rescheduling the Computational Effort; 4.6 Computer Simulations; 4.6.1 Simulation in a Small Area; 4.6.2 Simulation in a Large Area; 4.7 Experimental Evaluation; 4.8 Bibliographical Remarks; 4.9 Summary; Chapter 5 Sparse Local Submap Joining Filter; 5.1 Structure of Sparse Local Submap Joining Filter; 5.1.1 Input to SLSJF - Local Maps; 5.1.2 Output of SLSJF - One Global Map; 5.2 Fusing Local Maps into the Global Map 5.2.1 Adding XG(k+1)s into the Global Map |
Record Nr. | UNINA-9910827254403321 |
Wang Zhan | ||
Singapore ; ; Hackensack, N.J., : World Scientific, c2011 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Snake robots : modelling, mechatronics, and control / / Pal Liljeback ... [et al.] |
Autore | Liljeback Pal |
Edizione | [1st ed. 2013.] |
Pubbl/distr/stampa | London ; ; New York, : Springer, 2012 |
Descrizione fisica | 1 online resource (316 p.) |
Disciplina | 629.8932 |
Collana | Advances in industrial control |
Soggetto topico |
Robots
Robots - Control systems |
ISBN |
1-280-99633-1
9786613767943 1-4471-2996-2 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto | From the Contents: Part I: Snake Robot Locomotion on Planar Surfaces -- A Complex Model of Snake Robot Locomotion -- Development of the Mechanical Snake Wheeko -- Analysis and Synthesis of Snake Robot Locomotion -- Path-following Control and Poincaré Map Analysis -- Part II: Snake Robot Locomotion in Unstructured Environments -- Introduction to Part II -- A Hybrid Model of Snake Robot Locomotion -- Development of the Mechanical Snake Kulko. |
Record Nr. | UNINA-9910437913903321 |
Liljeback Pal | ||
London ; ; New York, : Springer, 2012 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
Autore | Nijmeijer H (Hendrik), <1955-> |
Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
Descrizione fisica | 1 online resource (219 p.) |
Disciplina | 621.3133 |
Altri autori (Persone) | Rodriguez-AngelesAlejandro |
Collana | World Scientific series on nonlinear science. Series A |
Soggetto topico |
Robots - Control systems
Synchronization |
Soggetto genere / forma | Electronic books. |
ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents ; Preface ; 1. Introduction ; 1.1 General introduction ; 1.2 Synchronization ; 1.3 Synchronization in robotic systems ; 1.3.1 Velocity and acceleration measurements ; 1.3.2 Joint flexibility ; 1.3.3 Friction phenomena ; 1.4 Problem formulation
1.4.1 External synchronization of rigid joint robots 1.4.2 External synchronization of flexible joint robots ; 1.4.3 Mutual (internal) synchronization of rigid joint robots ; 1.5 Scope of the book ; 1.6 Outline of the book ; 2. Preliminaries 2.1 Mathematical preliminaries and stability concepts 2.1.1 Basic definitions ; 2.1.2 Lyapunov stability ; 2.1.3 Stability of perturbed systems ; 2.2 Dynamic models of robot manipulators ; 2.2.1 Rigid joint robots ; 2.2.2 Flexible joint robots 2.2.3 Properties of the dynamic model of the robots 2.2.4 Friction phenomena ; 2.3 Experimental setup ; 3. External synchronization of rigid joint robots ; 3.1 Introduction ; 3.2 Synchronization controller based on state feedback 3.3 Synchronization controller based on estimated variables 3.3.1 Feedback control law ; 3.3.2 An observer for the synchronization errors ; 3.3.3 An observer for the slave joint variables ; 3.3.4 Synchronization closed loop error dynamics ; 3.3.5 Stability analysis 3.4 Gain tuning procedure |
Record Nr. | UNINA-9910454317303321 |
Nijmeijer H (Hendrik), <1955-> | ||
Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
Autore | Nijmeijer H (Hendrik), <1955-> |
Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
Descrizione fisica | 1 online resource (219 p.) |
Disciplina | 621.3133 |
Altri autori (Persone) | Rodriguez-AngelesAlejandro |
Collana | World Scientific series on nonlinear science. Series A |
Soggetto topico |
Robots - Control systems
Synchronization |
ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents ; Preface ; 1. Introduction ; 1.1 General introduction ; 1.2 Synchronization ; 1.3 Synchronization in robotic systems ; 1.3.1 Velocity and acceleration measurements ; 1.3.2 Joint flexibility ; 1.3.3 Friction phenomena ; 1.4 Problem formulation
1.4.1 External synchronization of rigid joint robots 1.4.2 External synchronization of flexible joint robots ; 1.4.3 Mutual (internal) synchronization of rigid joint robots ; 1.5 Scope of the book ; 1.6 Outline of the book ; 2. Preliminaries 2.1 Mathematical preliminaries and stability concepts 2.1.1 Basic definitions ; 2.1.2 Lyapunov stability ; 2.1.3 Stability of perturbed systems ; 2.2 Dynamic models of robot manipulators ; 2.2.1 Rigid joint robots ; 2.2.2 Flexible joint robots 2.2.3 Properties of the dynamic model of the robots 2.2.4 Friction phenomena ; 2.3 Experimental setup ; 3. External synchronization of rigid joint robots ; 3.1 Introduction ; 3.2 Synchronization controller based on state feedback 3.3 Synchronization controller based on estimated variables 3.3.1 Feedback control law ; 3.3.2 An observer for the synchronization errors ; 3.3.3 An observer for the slave joint variables ; 3.3.4 Synchronization closed loop error dynamics ; 3.3.5 Stability analysis 3.4 Gain tuning procedure |
Record Nr. | UNINA-9910782117203321 |
Nijmeijer H (Hendrik), <1955-> | ||
Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Synchronization of mechanical systems / / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
Autore | Nijmeijer H (Hendrik), <1955-> |
Edizione | [1st ed.] |
Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
Descrizione fisica | 1 online resource (219 p.) |
Disciplina | 621.3133 |
Altri autori (Persone) | Rodriguez-AngelesAlejandro |
Collana | World Scientific series on nonlinear science. Series A |
Soggetto topico |
Robots - Control systems
Synchronization |
ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Contents ; Preface ; 1. Introduction ; 1.1 General introduction ; 1.2 Synchronization ; 1.3 Synchronization in robotic systems ; 1.3.1 Velocity and acceleration measurements ; 1.3.2 Joint flexibility ; 1.3.3 Friction phenomena ; 1.4 Problem formulation
1.4.1 External synchronization of rigid joint robots 1.4.2 External synchronization of flexible joint robots ; 1.4.3 Mutual (internal) synchronization of rigid joint robots ; 1.5 Scope of the book ; 1.6 Outline of the book ; 2. Preliminaries 2.1 Mathematical preliminaries and stability concepts 2.1.1 Basic definitions ; 2.1.2 Lyapunov stability ; 2.1.3 Stability of perturbed systems ; 2.2 Dynamic models of robot manipulators ; 2.2.1 Rigid joint robots ; 2.2.2 Flexible joint robots 2.2.3 Properties of the dynamic model of the robots 2.2.4 Friction phenomena ; 2.3 Experimental setup ; 3. External synchronization of rigid joint robots ; 3.1 Introduction ; 3.2 Synchronization controller based on state feedback 3.3 Synchronization controller based on estimated variables 3.3.1 Feedback control law ; 3.3.2 An observer for the synchronization errors ; 3.3.3 An observer for the slave joint variables ; 3.3.4 Synchronization closed loop error dynamics ; 3.3.5 Stability analysis 3.4 Gain tuning procedure |
Record Nr. | UNINA-9910809295303321 |
Nijmeijer H (Hendrik), <1955-> | ||
Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Synergetic agents [[electronic resource] ] : from multi-robot systems to molecular robotics / / Hermann Haken and Paul Levi |
Autore | Haken H |
Pubbl/distr/stampa | Weinheim, Germany, : Wiley-VCH, 2012 |
Descrizione fisica | 1 online resource (339 p.) |
Disciplina | 629.892 |
Altri autori (Persone) | LeviPaul |
Soggetto topico |
Robots - Control systems
Intelligent control systems |
ISBN |
1-299-15707-6
3-527-65955-2 3-527-65952-8 3-527-65954-4 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto | pt. 1. Classical synergetic agents -- pt. 2. Quantum synergetic agents. |
Record Nr. | UNINA-9910141417003321 |
Haken H | ||
Weinheim, Germany, : Wiley-VCH, 2012 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Synergetic agents : from multi-robot systems to molecular robotics / / Hermann Haken and Paul Levi |
Autore | Haken H |
Edizione | [1st ed.] |
Pubbl/distr/stampa | Weinheim, Germany, : Wiley-VCH, 2012 |
Descrizione fisica | 1 online resource (339 p.) |
Disciplina | 629.892 |
Altri autori (Persone) | LeviPaul |
Soggetto topico |
Robots - Control systems
Intelligent control systems |
ISBN |
1-299-15707-6
3-527-65955-2 3-527-65952-8 3-527-65954-4 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto | pt. 1. Classical synergetic agents -- pt. 2. Quantum synergetic agents. |
Record Nr. | UNINA-9910823948403321 |
Haken H | ||
Weinheim, Germany, : Wiley-VCH, 2012 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|