
Fundamentals in Modeling and Control of Mobile Manipulators
CRC Press
1st Edition
Published on 30. March 2017
Book
Paperback/Softback
296 pages
978-1-138-07436-1 (ISBN)
Description
Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators.
The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems.
Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.
The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems.
Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.
More details
Series
Language
English
Place of publication
London
United Kingdom
Publishing group
Taylor & Francis Ltd
Target group
College/higher education
Academics and researchers in robotics, automation, and control; robotics professionals; postgraduate students studying advanced robotics, fundamentals of robotics control, and nonlinear and adaptive control.
Illustrations
101 s/w Abbildungen
101 Illustrations, black and white
Dimensions
Height: 234 mm
Width: 156 mm
Thickness: 16 mm
Weight
453 gr
ISBN-13
978-1-138-07436-1 (9781138074361)
Copyright in bibliographic data and cover images is held by Nielsen Book Services Limited or by the publishers or by their respective licensors: all rights reserved.
Schweitzer Classification
Other editions
Additional editions

Zhijun Li | Shuzhi Sam Ge
Fundamentals in Modeling and Control of Mobile Manipulators
E-Book
04/2016
1st Edition
CRC Press
€118.99
Available for download

Zhijun Li | Shuzhi Sam Ge
Fundamentals in Modeling and Control of Mobile Manipulators
E-Book
04/2016
1st Edition
CRC Press
€119.99
Available for download

Zhijun Li | Shuzhi Sam Ge
Fundamentals in Modeling and Control of Mobile Manipulators
Book
06/2013
1st Edition
CRC Press
€349.12
Shipment within 15-20 days
Persons
Zhijun Li is a professor in the College of Automation Science and Engineering at the South China University of Technology. Dr. Li is an IEEE Senior Member. He is an editor of the Journal of Intelligent and Robotic Systems. His current research interests include adaptive/robust control, mobile manipulators, and nonholonomic systems.
Shuzhi Sam Ge is a professor in the Department of Electrical and Computer Engineering and director of the Social Robotics Laboratory, Interactive Digital Media Institute, at the National University of Singapore, and director of the Robotics Institute at the University of Electronic Science and Technology of China in Chengdu. He has co-authored five books and published more than 300 international journal and conference papers. He has been an associate editor for IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, IEEE Transactions on Neural Networks, and is currently an associate editor for Automatica, as well as an editor for International Journal of Social Robotics, International Journal of Control, Automation & Systems, and the Taylor & Francis Automation and Control Engineering Series. His current research interests include social robotics, adaptive control, hybrid systems, and intelligent systems.
Shuzhi Sam Ge is a professor in the Department of Electrical and Computer Engineering and director of the Social Robotics Laboratory, Interactive Digital Media Institute, at the National University of Singapore, and director of the Robotics Institute at the University of Electronic Science and Technology of China in Chengdu. He has co-authored five books and published more than 300 international journal and conference papers. He has been an associate editor for IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, IEEE Transactions on Neural Networks, and is currently an associate editor for Automatica, as well as an editor for International Journal of Social Robotics, International Journal of Control, Automation & Systems, and the Taylor & Francis Automation and Control Engineering Series. His current research interests include social robotics, adaptive control, hybrid systems, and intelligent systems.
Author
South China University of Technology, Guangdong
The National University of Singapore, and University of Electronic Science and Technology of China, Chengdu
Content
Introduction: Mobile Manipulator Systems. Background and Motivations. Outline of the Book. Kinematics and Dynamics: Introduction. Kinematics of Mobile Platform. Kinematics of Robotic Manipulators. Dynamics of Mobile Manipulators. Dynamics in Cartesian Space. Conclusion. Path Planning and Motion Generation: Path Planning of Mobile Manipulators. Path Planning of Coordinated Mobile Manipulators. Conclusion. Model-Based Control: Introduction. System Description. Model Reference Control. Simulation Studies. Conclusion. Adaptive Robust Hybrid Motion/Force Control: Adaptive Robust Hybrid Motion/Force Control. Adaptive Robust Output-feedback Control with Actuator Dynamics. Adaptive Robust Hybrid Position/Force Control. Conclusion. Under-actuated Control: Introduction. System Description. High-gain Observer. Adaptive Output Feedback Control. Simulation Studies. Conclusion. Coordination Control: Centralized Coordination Control. Decentralized Coordination. Conclusion. Cooperation Control: Introduction. Description of Interconnected System. Centralized Robust Adaptive Controls Design. Simulation Studies. Conclusion. Appendix: Example of 2-DOF Wheeled Mobile Manipulator. Example of 3-DOF Mobile Manipulator. Bibliography. Index.