Dynamic Control of Wheeled Mobile Robot Using Sliding Mode
In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus: CAN. We develop the contraint and dynamic equations and we explain the state s
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Series Editors: The Rectors of CISM Sandor Kaliszky - Budapest Mahir Sayir - Zurich Wilhelm Schneider - Wien The Secretary General of CISM Giovanni Bianchi - Milan Executive Editor Carlo Tasso - Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES- No. 381
ROMANSY 11 THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS PROCEEDINGS OF THE ELEVENTH CISM-IFToMM SYMPOSIUM
EDITED BY A. MORECKI WARSAW UNIVERSITY OF TECHNOLOGY
G. BIANCHI POLYTECHNIC OF MILAN C. RZYMKOWSKI WARSAW UNIVERSITY OF TECHNOLOGY
~ Springer-Verlag Wien GmbH
Le spese di stampa di questo volume sono in parte coperte da contributi del Consiglio Nazionale delle Ricerche.
This volume contains 264 illustrations
This work is subject to copyright. Ali rights are reserved, whether the whole or part ofthe material is concemed specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. © 1997 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 1997
In order to make this volume available as economically and as rapidly as possible the authors' typescripts have been reproduced in their original forms. This method unfortunately has its typographicallimitations but it is hoped that they in no way district the reader.
ISBN 978-3-211-82903-5 DOI 10.1007/978-3-7091-2666-0
ISBN 978-3-7091-2666-0 (eBook)
PREFACE
The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the eleven symposia to date present a world view of the state of the art, including a unique record of the results achieved in central and eastern Europe. RoManSy'96, held July 1-4,1996 in Udine, Italy was attended by 59 participants from 13 countries. The proceedings of this eleventh edition of RoManSy focus mainly on problems of mechanical engineering and control. In his opening lecture, 0. Khatib presented an overview of the ongoing efforts, at Stanford University, for the development of mobile manipulation systems and summarised the basic models and methodologies for their analysis and control. The 46 papers illustrate significant contributions in mechanics (10 papers), synthesis and design (4), walking machines and mobile robots (13), biomechanical aspects of robots and manipulators (2), control of motion (11), sensing and machine intelligence (3) and applications and performance evaluation (3). They appear here in the order and form in which they were presented in the various working sessions. The next RoManSy'98 will be held in Paris, France in July 1998.
A. Morecki G. Bianchi
C. Rzymkowski
CO
