Modelling and Control of Mechatronic and Robotic Systems

• Other Authors: Gasparetto, Alessandro (Editor), Seriani, Stefano (Editor), Scalera, Lorenzo (Editor)
• Format: Electronic Book Chapter
• Language: English
• Published: Basel, Switzerland MDPI - Multidisciplinary Digital Publishing Institute 2021
• Subjects: Technology: general issues; bionic mechanism design; synthesis; exoskeleton; finger motion rehabilitation; super-twisting control law; robot manipulators; fast terminal sliding mode control; semi-active seat suspension; integrated model; control; fuzzy logic-based self-tuning; PID; super-twisting; sliding mode extended state observer; saturation function; fuzzy logic; attenuate disturbance; pHRI; variable stiffness actuator; V2SOM; friendly cobots; safety criteria; human-robot collisions; underwater vehicle-manipulator system; motion planning; coordinated motion control; inertial delay control; fuzzy compensator; extended Kalman filter; feedback linearization; CPG; self-growing network; quadruped robot; trot gait; directional index; serial robot; performance evaluation; kinematics; hydraulic press; energy saving; energy efficiency; installed power; processing performance; space robotics; planetary surface exploration; terrain awareness; mechanics of vehicle-terrain interaction; vehicle dynamics; multi-support shaft system vibration control; combined simulation; transverse bending vibration; Smart Spring; adaptive control; hydraulics; differential cylinder; feedforward; motion control; manipulator arm; trajectory optimization; "whip-lashing" method; reduction of cycle time; trajectory planning; SolidWorks and MATLAB software applications; dynamic modeling; multibody simulation; robotic lander; variable radius drum; impact analysis; cable-driven parallel robots; cable-suspended robots; dynamic workspace; throwing robots; casting robot; redesign; slider-crank mechanism; optimization; synthesis problem; rehabilitation devices; six-wheel drive (6WD); skid steering; electric unmanned ground vehicle (EUGV); driving force distribution; vehicle motion control; maneuverability and stability; hexapod robot; path planning; energy consumption; cost of transport; heuristic optimization; mobile robots; tractor-trailer; wheel slip compensation; gait optimization; genetic algorithm; quadrupedal locomotion; evolutionary programming; optimal contact forces; micro aerial vehicles; visual-based control; Kalman filter; n/a
• Online Access: DOAB: download the publication; DOAB: description of the publication

Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.