Robot Modeling and Control. Mark W. Spong

from overhead, as in Example 11.8.Figure 11.3 The boundaries of the various sidewalks in this scene are all parallel, and the...Figure 11.4 The Sobel edge detector applies local image smoothing and a discrete approximat...Figure 11.5 The reference window is centered at (u₀, v₀), and the target window is ...Figure 11.6 The goal image is shown on the left. When the camera reaches the desired config...Figure 11.7 In (a) the desired feature point locations are shown in dark circles, and the i...Figure 11.8 The required camera motion is a rotation by π about the camera z-axis. In (...Figure 11.9 For the case of pure image-based control, each feature point would move on a st...Figure 11.10 The feature error trajectories for the motion illustrated in Figure 11.9, from ...

      12 Chapter 12Figure 12.1 The sphere as a two-dimensional manifold in

.Figure 12.2 Integral manifold in

.Figure 12.3 Pictorial representation of a vector field on a manifold.Figure 12.4 Inner-loop/outer-loop control architecture for feedback linearization.Figure 12.5 Single-link, flexible joint robot.Figure 12.6 Step response and motor torque of the flexible joint robot. The difference betw...Figure 12.7 Tracking response and motor torque of the flexible joint robot with a cubic pol...Figure 12.8 Tracking response and motor torque of the flexible joint robot with an observer...

      13 Chapter 13Figure 13.1 An underactuated serial-link robot.Figure 13.2 Upper-actuated (left) and lower-actuated (right) robots.Figure 13.3 Illustrating common reference angle conventions.Figure 13.4 The inverted pendulum on a cart.Figure 13.5 An overhead crane, a gimballed rocket and bipedal walking as examples of the in...Figure 13.6 The Acrobot as a gymnastic robot.Figure 13.7 The Pendubot.Figure 13.8 The Reaction-Wheel Pendulum.Figure 13.9 The Reaction Wheel Pendulum.Figure 13.10 Equilibrium configurations of the Acrobot and Pendubot under gravity with zero ...Figure 13.11 Local stabilization of the Reaction-Wheel Pendulum at the inverted position q...Figure 13.12 Equilibrium configurations of the Pendubot for ue nonzero.Figure 13.13 The determinant of the controllability matrix for equilibrium positions (0, π/2...Figure 13.14 Brachiation motion of the Acrobot with virtual holonomic constraint q₁ + 0....Figure 13.15 A simple pendulum with a force F acting at the bob.Figure 13.16 Phase portrait of the simple pendulum. The constant energy curves are solution ...Figure 13.17 Phase portrait of the closed-loop system. Figure generated by pplane, courtesy ...Figure 13.18 The Reaction-Wheel Pendulum as a parallel interconnection of passive systems.Figure 13.19 Swingup and balance of the Reaction-Wheel Pendulum (left) and phase plane traje...Figure 13.20 Reaction-wheel velocity (left) and saturated control input (right).Figure 13.21 Swingup and balance of the Acrobot using switching control

      14 Chapter 14Figure 14.1 Mass m connected to a rigid rod.Figure 14.2 The rolling disk.Figure 14.3 The kinematic car.Figure 14.4 A hopping robot.Figure 14.5 The differential drive robot: top view (left), side view (right).Figure 14.6 The car parking problem.Figure 14.7 Illustrating the notion of Lie bracket direction.Figure 14.8 Response of z₁, z₂, and z₃: Note that z₁ and z₂ return to t...Figure 14.9 Response of z₁, z₂ and z₃.Figure 14.10 Trajectory and control inputs of the DDR computed from the flat outputs.Figure 14.11 Sliding-mode control of the DDR in chain form: response of the chain variables ...Figure 14.12 Sliding-mode control of the DDR in chain form: control inputs.Figure 14.13 Modified sliding-mode control of the DDR in chain form: response of the chain v...Figure 14.14 Modified sliding-mode control of the DDR in chain form: control inputs.Figure 14.15 DDR pose regulation.Figure 14.16 Differential drive robot showing the location of the output located d units a...Figure 14.17 Trajectory of the differential drive robot with partial feedback linearization ...

      15 Appendix BFigure 1: The right hand rule.

      16 Appendix CFigure C.1: Illustrating the definition of stability.

      Guide

      1  Cover

      2  Table of Contents

      3  Preface

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