Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems (Texts in Applied Mathematics) Review

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(More customer reviews)This is a very well written book on a difficult subject. A thorough study of "simple mechanical control systems" needs a background in Differential Geometry and students are faced with a great challenge in finding good references. Lewis and Bullo take that challenge and deliver this profoundly useful text. This book provides excellent chapters on the relavent concepts in basic algebra, differential geometry and Lie algebra. Then it introdues the simple mechanical systems in a very readable way. Concepts such as the configuration manifold, rigid bodies, kinetic energy, Riemannian metric etc are well explained in a general setting that the reader can draw analogies to Newtonian mechanics in Euclidean space. Book further discusses more advance topics such as Stability, Controllability and Perturbation analysis etc in Part II. Part III discusses design methodologies. There are plenty of exercises in the book and the website is very resourceful with supplementary material. This is a great addition to the collection of books by Abraham, Marsden, Arnol'd etc, and a must have for all graduate students working on this area.

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The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.

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Autonomous Robots: Modeling, Path Planning, and Control Review

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(More customer reviews)Fahimi's book can be considered a specialisation of the recent Springer Springer Handbook of Robotics. The current book explains the control systems theory behind having a robot operate independently. The kinematics can be quite involved, and you should already have a good background in matrix algebra.
Important special cases treated include have multiple mobile robots and planning their interdependent paths. These are in the presence of various potential energy functions. In some scenarios the paths are on a two dimensional surface, like land or at sea level. While in others, the paths are fully three dimensional, as for flying robots or those under the sea.
The concept of an autopilot for maintaining constant velocity on a surface is seen as an important but fundamentally simple situation.
Each chapter ends with a short set of problems; making the text suitable for a university course.

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It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do.Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots.Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots todeal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot.Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.

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