Wireless Communications

INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

http://www.cds.caltech.edu/%7Emurray/books/MLS/pdf/mls94-complete.pdf

A Mathematical Introduction to Robotic Manipulation

From the Publisher:
Written by two of the pioneers in the field, this book contains a wealth of practical information unavailable anywhere else. The authors give a comprehensive presentation of the field of adaptive control, carefully bending theory and implementation to provide the reader with insight and understanding. Benefiting from the feedback of users who are familiar with the first edition, the material has been reorganized and rewritten, giving a more balanced and teachable presentation of fundamentals and applications.

Adaptive Control

Networked control systems (NCSs) are spatially distributed systems for which the communication between sensors, actuators, and controllers is supported by a shared communication network. We review several recent results on estimation, analysis, and controller synthesis for NCSs. The results surveyed address channel limitations in terms of packet-rates, sampling, network delay, and packet dropouts. The results are presented in a tutorial fashion, comparing alternative methodologies

/pdf/a-survey-of-recent-results-in-networked-control-systems-2vqnhq8czm.pdf

A Survey of Recent Results in Networked Control Systems

Generalized predictive control—Part I. The basic algorithm

Practically all modern control systems are based upon microprocessors and complex microcontrollers that yield high performance and functionality. This volume focuses on the design of computer-controlled systems, featuring computational tools that can be applied directly and are explained with simple paper-and-pencil calculations. The use of computational tools is balanced by a strong emphasis on control system principles and ideas. Extensive pedagogical aids include worked examples, MATLAB macros, and a solutions manual. The initial chapter presents a broad outline of computer-controlled systems, followed by a computer-oriented view based on the behavior of the system at sampling instants. An introduction to the design of control systems leads to a process-related view and coverage of methods of translating analog designs to digital control. Concluding chapters explore implementation issues and advanced design methods. (Less)

Björn Wittenmark

Papers

Adaptive Control

Computer-Controlled Systems: Theory and Design

On self tuning regulators

Stochastic analysis and control of real-time systems with random time delays

Paper: Theory and applications of self-tuning regulators