Mobile robot kinematics

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  • Robotics has achieved its greatest success to date in the world of industrial manufacturing. Robot arms, or manipulators, comprise a 2 billion dollar industry. Bolted at its shoulder to a specific position in the assembly line, the robot arm can move with great speed and accuracy to perform repetitive tasks such as spot welding and painting (figure 1.1). In the electronics industry, manipulators place surface-mounted components with superhuman precision, making the portable telephone and laptop computer possible....

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  • This up-to-date text and reference is designed to present the fundamental principles of robotics with a strong emphasis on engineering applications and industrial solutions based on robotic technology. It can be used by practicing engineers and scientists -- or as a text in standard university courses in robotics. The book has extensive coverage of the major robotic classifications, including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator. A central theme is the importance of kinematics to robotic principles. The book is accompanied by a CD-ROM with MATLAB simulations....

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  • Mobile robots provide a motivating and interesting tool to perform laboratory experiments within the context of mechatronics, microelectronics and control. Students study this particular example in system design and integration tasks at different levels of complexity. This paper describes a set of workshops in which mobile robots were constructed in order to introduce students by hands-on experiments to mechatronic systems and control system design. This was tackled in combination with a teleoperations environment for rovers. Such...

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  • In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range mechanical manipulators comprising flexible link, flexible joint and mobile manipulators considered. Then, open-loop optimal control problem is formulated to control of obtained system. Finally, some applications of method including motion planning maximum payload determination are illustrated through the computer simulations.

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  • The speci c robotic system considered is a vehicle whose kinematic model approximates the mobility of a car. The con guration of this robot is repre- sented by the position and orientation of its main body in the plane, and by the angle of the steering wheels. Two velocity inputs are available for motion control. This situation covers in a realistic way many of the existing robotic vehicles. Moreover, the car-like robot is the simplest nonholonomic vehicle that displays the general characteristics and the dicult maneuverability of higher- dimensional systems, e.g.

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