Dynamics of the Unicycle
Dynamics of the Unicycle

Author: Michał Niełaczny

Publisher: Springer

Published: 2018-07-02

Total Pages: 85

ISBN-13: 3319953842

DOWNLOAD EBOOK

This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.

Modern Robotics
Modern Robotics

Author: Kevin M. Lynch

Publisher: Cambridge University Press

Published: 2017-05-25

Total Pages: 545

ISBN-13: 1107156300

DOWNLOAD EBOOK

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Advances in Emerging Trends and Technologies
Advances in Emerging Trends and Technologies

Author: Miguel Botto-Tobar

Publisher: Springer

Published: 2019-10-19

Total Pages: 414

ISBN-13: 9783030320324

DOWNLOAD EBOOK

This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador, on 29–31 May 2019, jointly organized by Universidad Tecnológica Israel, Universidad Técnica del Norte, and Instituto Tecnológico Superior Rumiñahui, and supported by SNOTRA. ICAETT 2019 brought together top researchers and practitioners working in different domains of computer science to share their expertise and to discuss future developments and potential collaborations. Presenting high-quality, peer-reviewed papers, the book discusses the following topics: Technology Trends Electronics Intelligent Systems Machine Vision Communication Security e-Learning e-Business e-Government and e-Participation

Intelligent Robotics and Applications
Intelligent Robotics and Applications

Author: Chun-Yi Su

Publisher: Springer

Published: 2012-09-28

Total Pages: 642

ISBN-13: 3642335039

DOWNLOAD EBOOK

The three volume set LNAI 7506, LNAI 7507 and LNAI 7508 constitutes the refereed proceedings of the 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, held in Montreal, Canada, in October 2012. The 197 revised full papers presented were thoroughly reviewed and selected from 271 submissions. They present the state-of-the-art developments in robotics, automation and mechatronics. This volume covers the topics of robot actuators and sensors; robot design, development and control; robot intelligence, learning and linguistics; robot mechanism and design; robot motion analysis and planning; robotic vision, recognition and reconstruction; and planning and navigation.

Dynamics and Optimal Control of Road Vehicles
Dynamics and Optimal Control of Road Vehicles

Author: D. J. N. Limebeer

Publisher: Oxford University Press

Published: 2018-08-23

Total Pages: 480

ISBN-13: 0192559818

DOWNLOAD EBOOK

Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal control to vehicle-related problems within a single book. This is a comprehensive and accessible text that emphasises the theoretical aspects of vehicular modelling and control. The book focuses on two major elements. The first is classical mechanics and its use in building vehicle and tyre dynamics models. The second focus is nonlinear optimal control, which is used to solve a range of minimum-time and minimum-fuel, as well as track curvature reconstruction problems. As is known classically, all of this material is bound together by the calculus of variations and stationary principles. The treatment of this material is supplemented with a number of examples that were designed to highlight obscurities and subtleties in the theory.

Introduction to Mobile Robot Control
Introduction to Mobile Robot Control

Author: Spyros G Tzafestas

Publisher: Elsevier

Published: 2013-10-03

Total Pages: 718

ISBN-13: 0124171036

DOWNLOAD EBOOK

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background

Nonholonomic Mechanics and Control
Nonholonomic Mechanics and Control

Author: A.M. Bloch

Publisher: Springer

Published: 2015-11-05

Total Pages: 582

ISBN-13: 1493930176

DOWNLOAD EBOOK

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Flocking and Rendezvous in Distributed Robotics
Flocking and Rendezvous in Distributed Robotics

Author: Bruce A. Francis

Publisher: Springer

Published: 2015-11-04

Total Pages: 0

ISBN-13: 9783319247274

DOWNLOAD EBOOK

This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field. Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, while also offering an authoritative reference work for more experienced workers seeking a brief but thorough treatment of an area that has rapidly gained in interest.

Kinematics and Dynamics of Multi-Body Systems
Kinematics and Dynamics of Multi-Body Systems

Author: J. Angeles

Publisher: Springer

Published: 2014-05-04

Total Pages: 344

ISBN-13: 3709143624

DOWNLOAD EBOOK

Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.