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Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems
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The optimization of motion and trajectory planning is an effective and usually costless approach to improving the performance of robots, mechatronic systems, automatic machines and multibody systems. Indeed, wise planning increases precision and machine productivity, while reducing vibrations, motion time, actuation effort and energy consumption. On the other hand, the availability of optimized methods for motion planning allows for a cheaper and lighter system construction. The issue of motion planning is also tightly linked with the synthesis of high-performance feedback and feedforward control schemes, which can either enhance the effectiveness of motion planning or compensate for its gaps. To collect and disseminate a meaningful collection of these applications, this book proposes 15 novel research studies that cover different sub-areas, in the framework of motion planning and control.
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Keywords
- a heuristic algorithm
- acceleration control of the center of mass
- adaptive genetic algorithm
- biped walking
- command-filtered backstepping
- compliant robot motion
- composed control scheme
- dissipative force
- disturbance observation
- disturbance observer
- dynamic balancing
- dynamic gait
- dynamic model
- Energy Efficiency
- extended set-membership filter
- fin stabilizer
- flexible multibody systems
- FOPD controller
- force feedback
- Fractional calculus
- friction force
- fully Cartesian coordinates
- functional redundancy
- gait planning
- gesture-based teleoperation
- History of engineering & technology
- humanoid robot
- hybrid navigation system
- Impact and contact
- improved artificial potential field method
- inertial stability accuracy
- linearized models
- location trajectory
- low-speed performance
- Mobile Robot
- modal analysis
- motion control
- motion design
- n/a
- natural coordinates
- obstacle avoidance planning
- OES
- parallel manipulators
- passive model
- pickup manipulator
- piecewise cubic Bézier curve
- prescribed performance
- quadruped robot
- robot
- robotic assembly
- robust estimation
- rotational slip
- rugged terrain
- shaking force balancing
- six-legged robot
- Sliding mode control
- speed observation
- state-augmented Kalman filter
- Support
- swing
- Technology, engineering, agriculture
- Technology: general issues
- trajectory optimization
- underwater vehicle
- unknown but bounded noise
- UR5
- walk fast
- weighted-sum model
- whole robot control
- whole-body motion planning
- ZMP
Links
DOI: 10.3390/books978-3-03943-061-1Editions