Fundamentals in Modeling and Control of Mobile Manipulators (Hardcover)

Zhijun Li, Shuzhi Sam Ge

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商品描述

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.

商品描述(中文翻譯)

移動機械手臂結合了移動平台和機械手臂的優勢,擴展了它們在大空間和遙遠、苛刻和/或危險環境中的操作範圍和功能。然而,這也帶來了動態建模和控制系統設計上的複雜性和困難。然而,非線性系統分析和控制系統設計的進展為移動機械手臂系統的控制提供了強大的工具和概念。《移動機械手臂建模與控制基礎》全面介紹了移動機械手臂的幾個基本問題的理論處理。

本書整合了新概念和最新成果,系統地研究了運動學和動力學、運動生成、反饋控制、協調和合作等問題。作者們從這個處理中建立了一個基本的理論框架,用於移動機械手臂的非線性控制理論,並應用於更現實的問題。根據他們過去十年的研究,作者們提出了解決關鍵問題的新控制理論概念和技術。

涵蓋的主題包括運動學和動力學建模、非完整系統的控制、考慮運動和操作的路徑規劃、混合運動/力控制和混合位置/力控制,其中移動機械手臂需要與環境進行交互,以及多個移動機械手臂的協調和合作策略。本書還包括工程系統應用的實際例子。這本及時的書籍探討了研究人員和工程師在單個或多個移動機械手臂上工作時所面臨的重要科學和工程問題,以實現更大的操作空間、更好的合作和提高生產力。