RBE 502 - Robot Control
PART A: INTRODUCTION
PROFESSOR AGHELI 0 Deﬁnition 1
Virtually anything that operates with some degree of autonomy, usually under computer control, has at some point been
called a robot-Spong
0 Deﬁnition 2
A robot is
° Kinematics: Study of the motion of the body including position,
velocity, and acceleration without considering the force causing the
- Dynamics: Study of forces in the system. Usually known as Kinetics!
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Mobile Robot Motion Control (An Example)
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° A collection of interacting components.
° Inputs act on the system.
° State variables describe the system.
° Outputs are measured quantities.
- A rule that determines the present state from past states.
In this chapter we present the foundations of Lyapunov stability theory. The
denitions, lemmas and theorems are borrowed from specialized texts and,
as needed, their statements are adapted for the purposes of this text. The
11 Mobile Robots
Fig. 11.12. Two examples of minimum-time trajectories for the unicycle
to express and invert in closed form the relationship between the duration of
the arcs and the obtained change in conf
Do not worry about your difculties in Mathematics. I can
assure you mine are still greater.
The last word, when all is heard: Fear God and keep his commandments, for this is mans all; because God will bring to
To catch a mouse alive, try this trick: When you see the beast
running around a room, open a black umbrella and hold it on
the oor at an angle that allows the mouse to run in (it helps
if someone else can chase the