This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Research in the area of adaptive control, nonlinear system and other advanced control techniques have been carried out in parallel and rather independently. In the last few years, these techniques have been used to improve robot motion accuracy. The aim of the workshop is to present the most recent contributions in the field of robot control and to compare how these advanced control techniques have been used to solve similar problems. The topics covered include: Adaptation and learning.- Control of systems with nonholonomic constraints (mobile robots).- Robot control in the task space.- Control of flexible robots (joints and structure).- Observer-based control.- Control through kinematic singularities.

Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

This monograph presents an updated source of information on the state of the art in advanced control of articulated and mobile robots. It includes relevant selected problems dealing with enhanced actuation, motion planning and control functions for articulated robots, as well as of sensory and autonomous decision capabilities for mobile robots. The basic idea behind the book is to provide a larger community of robotic researchers and developers with a reliable source of information and innovative applications in the field of control of cooperating and mobile robots. This book is the outcome of the research project MISTRAL (Methodologies and Integration of Subsystems and Technologies for Anthropic Robotics and Locomotion) funded in 2001-2002 by the Italian Ministry for Education, University and Research. The thorough discussion, rigorous treatment, and wide span of the presented work reveal the significant advances in the theoretical foundation and technology basis of the robotics field worldwide.

Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications delivers essential and advanced bioengineering information on the application of control and robotics technologies in the life sciences. Judging by what we have witnessed so far, this exciting field of control systems and robotics in bioengineering is likely to produce revolutionary breakthroughs over the next decade. While this book is intended for senior undergraduate or graduate students in both control engineering and biomedical engineering programs, it will also appeal to medical researchers and practitioners who want to enhance their quantitative understanding of physiological processes. - Focuses on the engineering and scientific principles underlying the extraordinary performance of biomedical robotics and bio-mechatronics - Demonstrates the application of principles for designing corresponding algorithms - Presents the latest innovative approaches to medical diagnostics and procedures, as well as clinical rehabilitation from the point-of-view of dynamic modeling, system analysis and control

This book presents recent results in robot motion and control. Twenty papers presented at the Fourth International Workshop on Robot Motion and Control held in 2004 have been expanded. The authors of these papers were carefully selected and represent leading institutions in this field. The book covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, topics not covered in previous books.

This book highlights relevant studies and applications in the area of robotics, which reflect the latest research, from interdisciplinary theoretical studies and computational algorithm development, to representative applications. It presents chapters on advanced control, such as fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis and fault tolerant control etc. and addresses topics including cloud robotics, cable-driven robots, two-wheeled robots, mobile robots, swarm robots, hybrid vehicle, and drones. Each chapter employs a uniform structure: background, motivation, quantitative development (equations), case studies/illustration/tutorial (simulations, experiences, curves, tables, etc.), allowing readers to easily tailor the techniques to their own applications.

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Modern Robotics has a history of not more than 50 years. Robot science grew up in this period. The basic results of control of these devices were developed in the last 20 years. The authors of the present book summarize, in an original presentation, the most important results and add to those some new contributions. Among others, robot kinematics, trajectory planning, dynamics and control problems are discussed in detail. The new results include the original treatment of various kinematic and dynamic problems, time-optimal trajectory planning, model reference adaptive control, robot dynamic, model identification and self-tuning adaptive control, robotized manufacturing optimization and some others.

The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC