内容简介：　　　

　　Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators.

　　The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems.

　　Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion force control and hybrid position force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.

英文目录：
1 Introduction
　　1.1 Mobile Manipulator Systems
　　1.2 Background and Motivations
　　1.3 Outline of the Book
2 Kinematics and Dynamics
　　2.1 Introduction
　　2.2 Kinematics of Mobile Platform
　　　　2.2.1 Differential driven Mobile Platform
　　　　2.2.2 Car-like Mobile Platform
　　2.3 Kinematics of Robotic Manipulators
　　2.4 Dynamics of Mobile Manipulators
　　　　2.4.1 Lagrange-Euler Equations
　　　　2.4.2 Kinetic Energy
　　　　2.4.3 Potential Energy
　　　　2.4.4 Lagrangian Equations
　　　　2.4.5 Properties of Dynamic Equations
　　2.5 Dynamics in Cartesian Space
　　2.6 Conclusion
3 Path Planning and Motion Generation
　　3.1 Path Planning of Mobile Manipulators
　　　　3.1.1 Introduction
　　　　3.1.2 Preliminaries and Problem Formulation
　　　　3.1.3 Dynamics and Kinematics of Mobile Manipulators
　　　　3.1.4 Motion Generation
　　3.2 Path Planning of Coordinated Mobile Manipulators
　　　　3.2.1 Introduction
　　　　3.2.2 System Description and Assumption
　　　　3.2.3 Dynamics of System
　　　　3.2.4 Motion Generation
　　　　3.2.5 Collision-free Motion Planning
　　　　3.2.6 Simulation Studies
　　3.3 Conclusion
4 Model-Based Control
　　4.1 Introduction
　　4.2 System Description
　　4.3 Model Reference
　　4.4 Simulation Studies
　　4.5 Conclusion
5 Adaptive Robust Hybrid Motion/Force Control
　　5.1 Adaptive Robust Hybrid Motion/Force Control
　　　　 5.1.1 Introduction
　　　　5.1.2 Robust Control
　　　　5.1.3 Adaptive Robust Control
　　　　5.1.4 Simulation Studies
　　5.2 Adaptive Robust Output-feedback Control with Actuator Dynamics
　　　　5.2.1 Introduction
　　　　5.2.2 Actuator Dynamics
　　　　5.2.3 Output-feedback Control Design
　　　　5.2.4 Kinematic and Dynamic Subsystems
　　　　5.2.5 Control Design at the Actuator Level
　　　　5.2.6 Stability Analysis
　　　　5.2.7 Simulation Studies
　　5.3 Adaptive Robust Hybrid Position/Force Control
　　　　5.3.1 Introduction
　　　　5.3.2.Nonholonomic Constraint in Chained Form
　　　　5.3.3 Reduced Model and State Transformation
　　　　5.3.4 Uncertain Holonomic Constraints
　　　　5.3.5 Adaptive Control
　　　　5.3.6 Simulation Studies
　　5.4 Conclusion
6 Under-actuated Control
　　6.1 Introduction
　　6.2 System Description
　　6.3 High-gain Observer
　　6.4 Adaptive Output Feedback Control
　　6.5 Simulation Studies
　　6.6 Conclusion
7 Coordination Control
　　7.1 Centralized Coordination Control
　　　　7.1.1 Introduction
　　　　7.1.2 System Description and Assumptions
　　　　7.1.3 Dynamics of System
　　　　7.1.4 Robust Control Design
　　　　7.1.5 Robust Adaptive Control Design
　　　　7.1.6 Simulation Studies
　　7.2 Decentralized Coordination
　　　　7.2.1 System Description and Assumption
　　　　7.2.2 Dynamics of Interconnected System
　　　　7.2.3 Decentralized Adaptive Control
　　　　7.2.4 Simulation Studies
　　7.3 Conclusion
8 Cooperation Control
　　8.1 Introduction
　　8.2 Description of Interconnected System
　　　　8.2.1 Kinematic Constrains of the System
　　　　8.2.2 Robot Dynamics
　　　　8.2.3 Reduced Dynamics
　　8.3 Robust Adaptive Control Design
　　　　8.3.1 Problem Statement and Control Diagram
　　　　8.3.2 Control Design
　　　　8.3.3 Control Stability
　　8.4 Simulation Studies
　　8.5 Conclusion
9 Appendix
　　9.1 Example of 2-DOF Mobile Manipulator
　　9.2 Example 0f 3-DOF Mobile Manipulator
Bibliography
Index