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Introduction to Mobile Robot Control by Spyros G Tzafestas

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5

Mobile Robot Control I

The Lyapunov-Based Method

This chapter deals with the general problem of determining the forces and torques that must be developed by the robotic actuators in order for the robot to go at a desired position/posture, track a desired trajectory, and, in general, to perform some task with a desired quality of performance. The controllers to be presented in the chapter assume that the goal of the control and the robot dynamic parameters are precisely known, and if this goal (posture or path) is changing, the change is compatible with the environment, and risk free. The particular objectives of the chapter are (i) to provide a minimal set of general control concepts and methods that are used in robot control, (ii) to study ...

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