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Complex Robotic Systems

  • Book
  • © 1998

Overview

Editors:
  1. Pasquale Chiacchio
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    You can also search for this editor in PubMed   Google Scholar

  2. Stefano Chiaverini
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  • Deals with robotics, a topical field with ever-increasing relevance *
  • The work is the result of a tutorial which involved experts of international repute * The content, layout and price are ideal for graduates and students

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 233)

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Table of contents (6 chapters)

  1. Front Matter

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  2. Chapter 1 Multi-arm robot systems: A survey

    Pages 1-31

  3. Chapter 2 Kinematic manipulability of general mechanical systems

    Pages 33-78

  4. Chapter 3 Kinematic control of dual-arm systems

    Pages 79-97

  5. Chapter 4 Load distribution and control of interacting manipulators

    Pages 99-127

  6. Chapter 5 Multi-fingered hands: A survey

    Pages 129-160

  7. Chapter 6 Grasping optimization and control

    Pages 161-177

  8. Back Matter

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Keywords

About this book

Robotic systems have proved themselves to be of increasing importance and are widely adopted to substitute for humans in repetitive or hazardous situations. Their diffusion has outgrown the limits of industrial applications in manufacturing systems to co ver all aspects of exploration and servicing in hostile environments such as undersea, outer space, battlefields and nuclear plants. Complex robotic systems - ie robotic systems with a complex structure and architecture - are gaining increasing attention from both the academic community and industrial users. The modelling and control problems for these systems cannot be regarded as simple extensions of those for traditional single manipulators, since additional complexity arises; to accomplish tasks there is the need to ensure co-ordinated motion of the whole system together with management of interaction between each component of the system. This book focuses on two examples of complex robotic systems - namely co-operating manipulators and multi-fingered hands. It is addressed to graduate students as well as to researchers in the field.

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