Motion control strategy

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  • Ground vehicles can navigate using signals from external navigation systems such as the Global Positioning System (GPS) (Figure 1.1), or by using signals from internal devices such as a compass, an odometer, a gyroscope, an accelerometer, or a full-blown inertial navigation system (INS). In practice, the most reliable and accurate navigation is obtained by combining data from all available sources, including static databases such as a digitized map. This chapter will discuss many of these sources of navigation data, and methods for combining them....

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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 applications of underwater vehicles have shown a dramatic increase in recent years, such as, mines clearing operation, feature tracking, cable or pipeline tracking and deep ocean exploration. According to different applications, the mechanical and electrical configuration and shape of an underwater vehicle are different. For instance, manipulators are necessary when doing mines clearing operation or some other tasks which need to deal with environment.

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  • Problems of nonholonomic mechanics, including many problems in robotics, wheeled vehicular dynamics and motion generation, have attracted considerable attention. These problems are intimately connected with important engineering issues such as path planning, dynamic stability, and control.Thus, the investigation of many basic issues, and in particular, the role of symmetry in such problems, remains an important subject today.

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