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Robot Motion and Control 2009

  • Conference proceedings
  • © 2009

Overview

Editors:
  1. Krzysztof R. Kozłowski

    1. Chair of Control and Systems Engineering, Poznań University of Technology, Poznań, Poland

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  • Presents the most recent results and developments in the field of robot motion and control
  • Covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, expanding on work presented in previous proceedings from the same conference and not covered in other books
  • A valuable tool for co-ordinating and interlocking work carried out in Central and Eastern Europe with that performed in "the West"

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 396)

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Table of contents (43 papers)

  1. Front Matter

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  2. Control of Nonholonomic Systems

    1. Front Matter

      Pages 1-1
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    2. Geometrical Properties of Aircraft Equilibrium and Nonequilibrium Trajectory Arcs

      • Yasmina Bestaoui
      Pages 3-12

    3. Identification of a UAV Model for Control

      • Piotr Cieciński, Jacek Pienia̧żek
      Pages 13-22

    4. Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input

      • Maciej Michałek, Krzysztof R. Kozłowski
      Pages 23-34

    5. Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation

      • Dariusz Pazderski, Krzysztof R. Kozłowski, Bartłomiej Krysiak
      Pages 35-44

    6. Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis

      • Dariusz Pazderski, Paweł Szulczyński, Krzysztof R. Kozłowski
      Pages 45-56

    7. Trajectory Tracking for Formation of Mobile Robots

      • Wojciech Kowalczyk, Krzysztof R. Kozłowski, József K. Tar
      Pages 57-66

  3. New Control Algorithms for RobotManipulators

    1. Front Matter

      Pages 67-67
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    2. Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam

      • Alexander Zuyev
      Pages 69-81

    3. Application of the Return Method to the Steering of Nonlinear Systems

      • Tetiana Chumachenko, Alexander Zuyev
      Pages 83-91

    4. Application of Robust Fixed Point Transformations for Technological Operation of Robots

      • József K. Tar, Imre J. Rudas, Krzysztof R. Kozłwski, José A. Tenreiro Machado
      Pages 93-101

    5. Fixed Point Transformations in the Adaptive Control of Fractional-order MIMO Systems

      • József K. Tar, Imre J. Rudas, László Nádai, Krzysztof R. Kozłowski, José A. Tenreiro Machado
      Pages 103-112

    6. Fractional-order Mathematical Model of Pneumatic Muscle Drive for Robotic Applications

      • Edward Jezierski, Piotr Ostalczyk
      Pages 113-122

    7. Combinatorial Control Systems

      • Jesper Abildgaard Larsen, Rafael Wisniewski
      Pages 123-132

    8. Computational Algebra Support for the Chen-Fliess-Sussmann Differential Equation

      • Ignacy Dulȩba, Jacek Jagodziński
      Pages 133-142

  4. Control of Walking Robots

    1. Front Matter

      Pages 143-143
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    2. Biologically Inspired Motor Control for Underactuated Robots – Trends and Challenges

      • Fumiya Iida
      Pages 145-154

    3. Adaptation of a Six-legged Walking Robot to Its Local Environment

      • Arne Roennau, Thilo Kerscher, Marco Ziegenmeyer, Johann Marius Zöllner, Rüdiger Dillmann
      Pages 155-164

    4. Development of Two-legged Robot

      • Teresa Zielińska, Andrzej Chmielniak
      Pages 165-173
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Keywords

About this book

Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field.

The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications.

The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.

Editors and Affiliations

  • Chair of Control and Systems Engineering, Poznań University of Technology, Poznań, Poland

    Krzysztof R. Kozłowski

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