This chapter is devoted to the kinetostatics of robotic manipulators of the serial type, ie, to the
kinematics and statics of these systems. The study is general, but with regard to what is …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is
presented. Linearized tracking-error dynamics is used to predict future system behavior and …

A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic
way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive …

Lie algebra is an area of mathematics that is largely used by electrical engineer students,
mainly at post-graduation level in the control area. The purpose of this paper is to illustrate …

Highlights•Autonomous ground and aerial vehicles can lead to improve agriculture
management.•A collaborative scheme based on a multi-phase approach is …

In this paper, a control structure that makes possible the integration of a kinematic controller
and an adaptive fuzzy controller for trajectory tracking is developed for nonholonomic mobile …

This paper aims to give a general and unifying presentation on modeling of wheel mobile
robots (WMRs) in the presence of wheel skidding and slip** from the perspective of …

Im Rahmen dieser Arbeit werden Antworten und Lösungen zu einigen offenen Fragen und
Probleme im Bereich der nichtlinearen prädiktiven Regelung gegeben. Unter anderem …

Das Grundkonzept des Lehrbuches über Mehrkörpersysteme mit der von den Bindungen
ausgehenden Darstellung der Mehrkörperdynamik wird in der vorliegenden zweiten Auflage …