1st Edition
Fundamentals in Modeling and Control of Mobile Manipulators
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
Biography
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.
