Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Planning Algorithms: Introductory Material

Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent Joint Control. 7. Dynamics. 8. Multivariable Control. 9. Force Control. 10. Geometric Nonlinear Control. 11. Computer Vision. 12. Vision-Based Control. Appendix A: Trigonometry. Appendix B: Linear Algebra. Appendix C: Dynamical Systems. Appendix D: Lyapunov Stability. Index.

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Robot Modeling and Control

Paper: The internal model principle of control theory

Human skin is a remarkable organ. It consists of an integrated, stretchable network of sensors that relay information about tactile and thermal stimuli to the brain, allowing us to maneuver within our environment safely and effectively. Interest in large-area networks of electronic devices inspired by human skin is motivated by the promise of creating autonomous intelligent robots and biomimetic prosthetics, among other applications. The development of electronic networks comprised of flexible, stretchable, and robust devices that are compatible with large-area implementation and integrated with multiple functionalities is a testament to the progress in developing an electronic skin (e-skin) akin to human skin. E-skins are already capable of providing augmented performance over their organic counterpart, both in superior spatial resolution and thermal sensitivity. They could be further improved through the incorporation of additional functionalities (e.g., chemical and biological sensing) and desired properties (e.g., biodegradability and self-powering). Continued rapid progress in this area is promising for the development of a fully integrated e-skin in the near future.

25th Anniversary Article: The Evolution of Electronic Skin (E-Skin): A Brief History, Design Considerations, and Recent Progress

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

Asymptotically stable robust control of robot manipulators

The development of an experimental tactile sensor utilizing optical fibers is analyzed. In the first stage of this research, a single-point experimental force sensor was designed and manufactured. In the single-point sensor, light from an emitting fiber is reflected from the surface of a cantilever beam into a receiving fiber, and the intensity of the light reflected is continuously measured as the beam deflects due to applied force. The experimental sensor is designed such that it allows variation in design parameters to determine the best set of parameter values for optimal performance of the sensor. In the second stage of the research the optimal design parameters obtained from the single-point sensor experiments were used to design and manufacture a four-point prototype tactile sensor. This prototype sensor makes use of electrical amplification and digital conversion which can enable the force signals to provide tactile information to the controller of a multifingered hand. >

Analysis and design of a modular electro-optical tactile sensor

The AARM is a robot tool for remote controlled visual inspection and some operations inside a nuclear reactor. The user takes full advantage of the opportunity created during nuclear reactions retrofit operations. It allows inspection of components that have not been visible since the reactor was initially commissioned, usually several decades earlier. Specifically, during retrofit of a reactor this tool can be inserted through a lattice sleeve tube in the shielding wall of the reactor after the fueling and pressure tubes were removed, in order to perform inspection and some cleaning operations.

AARM: A robot arm for internal operations in nuclear reactors

This paper presents the results from an experimental investigation into the performance of stiffness control, implemented on a two degree-of-freedom manipulator that uses harmonic drive gears. Stiffness control, which is the simplest form of impedance control, was implemented using force feedback. The results demonstrate the benefits of using force feedback to compensate for static friction effects and for the difficulty in accurately controlling the joint torques for geared manipulators.

Andrew A. Goldenberg

Papers

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

Asymptotically stable robust control of robot manipulators

Analysis and design of a modular electro-optical tactile sensor

AARM: A robot arm for internal operations in nuclear reactors

Stiffness control for geared manipulators