Siciliano B., De Luca A., Melchiorri C., Casalino G. (Eds.) Advances in Control of Articulated and Mobile Robots

Springer-Verlag, Berlin, 2004, 242 pages, ISBN: 3642058655Springer Tracts in Advanced RoboticsThis 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.Planning Motions for Robotic Systems Subject to Differential Constraints
Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay
Measuring and Improving Performance in Anti-Windup Laws for Robot Manipulators
Model-Based Friction Compensation
Architectures for Rapid Prototyping of Model-Based Robot Controllers
Real-Time Visual Tracking of 3D Objects
RTLinux-Based Controller for the SuperMARIO Mobile Robot
Coordination and Control of Multiarm Nonholonomic Mobile Manipulators
Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot
On the Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles