Essays On Mathematical Robotics
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| Author | : John Baillieul |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 394 |
| Release | : 1998-09-25 |
| Genre | : Language Arts & Disciplines |
| ISBN | : 9780387985961 |
This IMA Volume in Mathematics and its Applications ESSAYS ON MATHEMATICAL ROBOTICS is based on the proceedings of a workshop that was an integral part of the 1992-93 IMA program on "Control Theory." The workshop featured a mathematicalintroductionto kinematics and fine motion planning; dynam- ics and control of kinematically redundant robot arms including snake-like robots, multi-fingered robotic hands; methods of non-holonomic motion planning for space robots, multifingered robot hands and mobile robots; new techniques in analytical mechanics for writing the dynamics of com- plicated multi-body systems subject to constraints on angular momentum or other non-holonomic constraints. In addition to papers representing proceedings of the Workshop, this volume contains several longer papers surveying developments of the intervening years. We thank John Baillieul, Shankar S. Sastry, and Hector J. Sussmann for organizing the workshop and editing the proceedings. We also take this opportunity to thank the National Science Foundation and the Army Research Office, whose financial support made the workshop possible. Avner Friedman Willard Miller, Jr.
| Author | : John Baillieul |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 382 |
| Release | : 2012-12-06 |
| Genre | : Mathematics |
| ISBN | : 1461217105 |
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 in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.
| Author | : Richard M. Murray |
| Publisher | : CRC Press |
| Total Pages | : 488 |
| Release | : 2017-12-14 |
| Genre | : Technology & Engineering |
| ISBN | : 1351469789 |
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
| Author | : John B. Baillieul |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 389 |
| Release | : 2012-12-06 |
| Genre | : Mathematics |
| ISBN | : 1461214165 |
This volume on mathematical control theory contains high quality articles covering the broad range of this field. The internationally renowned authors provide an overview of many different aspects of control theory, offering a historical perspective while bringing the reader up to the very forefront of current research.
| Author | : Jadran Lenarčič |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 472 |
| Release | : 2008-05-29 |
| Genre | : Technology & Engineering |
| ISBN | : 1402086008 |
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
| Author | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
| Author | : Carlos Castillo-Chavez |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 375 |
| Release | : 2012-12-06 |
| Genre | : Medical |
| ISBN | : 1461300657 |
This IMA Volume in Mathematics and its Applications MATHEMATICAL APPROACHES FOR EMERGING AND REEMERGING INFECTIOUS DISEASES: MODELS, AND THEORY METHODS is based on the proceedings of a successful one week workshop. The pro ceedings of the two-day tutorial which preceded the workshop "Introduction to Epidemiology and Immunology" appears as IMA Volume 125: Math ematical Approaches for Emerging and Reemerging Infectious Diseases: An Introduction. The tutorial and the workshop are integral parts of the September 1998 to June 1999 IMA program on "MATHEMATICS IN BI OLOGY. " I would like to thank Carlos Castillo-Chavez (Director of the Math ematical and Theoretical Biology Institute and a member of the Depart ments of Biometrics, Statistics and Theoretical and Applied Mechanics, Cornell University), Sally M. Blower (Biomathematics, UCLA School of Medicine), Pauline van den Driessche (Mathematics and Statistics, Uni versity of Victoria), and Denise Kirschner (Microbiology and Immunology, University of Michigan Medical School) for their superb roles as organizers of the meetings and editors of the proceedings. Carlos Castillo-Chavez, es pecially, made a major contribution by spearheading the editing process. I am also grateful to Kenneth L. Cooke (Mathematics, Pomona College), for being one of the workshop organizers and to Abdul-Aziz Yakubu (Mathe matics, Howard University) for serving as co-editor of the proceedings. I thank Simon A. Levin (Ecology and Evolutionary Biology, Princeton Uni versity) for providing an introduction.
| Author | : Piotr Kulczycki |
| Publisher | : Springer Nature |
| Total Pages | : 843 |
| Release | : 2020-09-03 |
| Genre | : Technology & Engineering |
| ISBN | : 3030485870 |
This book presents a wide and comprehensive range of issues and problems in various fields of science and engineering, from both theoretical and applied perspectives. The desire to develop more effective and efficient tools and techniques for dealing with complex processes and systems has been a natural inspiration for the emergence of numerous fields of science and technology, in particular control and automation and, more recently, robotics. The contributions gathered here concern the development of methods and algorithms to determine best practices regarding broadly perceived decisions or controls. From an engineering standpoint, many of them focus on how to automate a specific process or complex system. From a tools-based perspective, several contributions address the development of analytic and algorithmic methods and techniques, devices and systems that make it possible to develop and subsequently implement the automation and robotization of crucial areas of human activity. All topics discussed are illustrated with sample applications.
| Author | : Tan, Ying |
| Publisher | : IGI Global |
| Total Pages | : 889 |
| Release | : 2015-12-09 |
| Genre | : Technology & Engineering |
| ISBN | : 1466695730 |
Studies on robotics applications have grown substantially in recent years, with swarm robotics being a relatively new area of research. Inspired by studies in swarm intelligence and robotics, swarm robotics facilitates interactions between robots as well as their interactions with the environment. The Handbook of Research on Design, Control, and Modeling of Swarm Robotics is a collection of the most important research achievements in swarm robotics thus far, covering the growing areas of design, control, and modeling of swarm robotics. This handbook serves as an essential resource for researchers, engineers, graduates, and senior undergraduates with interests in swarm robotics and its applications.
| Author | : George Cybenko |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 162 |
| Release | : 1998-12-07 |
| Genre | : Mathematics |
| ISBN | : 9780387986654 |
High performance computing consumes and generates vast amounts of data, and the storage, retrieval, and transmission of this data are major obstacles to effective use of computing power. Challenges inherent in all of these operations are security, speed, reliability, authentication and reproducibility. This workshop focused on a wide variety of technical results aimed at meeting these challenges. Topics ranging from the mathematics of coding theory to the practicalities of copyright preservation for Internet resources drew spirited discussion and interaction among experts in diverse but related fields. We hope this volume contributes to continuing this dialogue.
