Sensing, intelligence, motion how robots and humans move in an unstructured world
A leap forward in the field of roboticsUntil now, most of the advances in robotics have taken place in structured environments. Scientists and engineers have designed highly sophisticated robots, but most are still only able to operate and move in predetermined, planned environments designed specifi...
| Autor principal: | |
|---|---|
| Formato: | Libro electrónico |
| Idioma: | Inglés |
| Publicado: |
Hoboken, NJ :
J. Wiley
c2006.
|
| Edición: | 1st edition |
| Materias: | |
| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009627045706719 |
Tabla de Contenidos:
- SENSING, INTELLIGENCE, MOTION; CONTENTS; Preface; Acknowledgments; 1 Motion Planning-Introduction; 1.1 Introduction; 1.2 Basic Concepts; 1.2.1 Robot? What Robot?; 1.2.2 Space. Objects; 1.2.3 Input Information. Sensing; 1.2.4 Degrees of Freedom. Coordinate Systems; 1.2.5 Motion Control; 1.2.6 Robot Programming; 1.2.7 Motion Planning; 2 A Quick Sketch of Major Issues in Robotics; 2.1 Kinematics; 2.2 Statics; 2.3 Dynamics; 2.4 Feedback Control; 2.5 Compliant Motion; 2.6 Trajectory Modification; 2.7 Collision Avoidance; 2.8 Motion Planning with Complete Information
- 2.9 Motion Planning with Incomplete Information2.9.1 The Beginnings; 2.9.2 Maze-to-Graph Transition; 2.9.3 Sensor-Based Motion Planning; 2.10 Exercises; 3 Motion Planning for a Mobile Robot; 3.1 The Model; 3.2 Universal Lower Bound for the Path Planning Problem; 3.3 Basic Algorithms; 3.3.1 First Basic Algorithm: Bug1; 3.3.2 Second Basic Algorithm: Bug2; 3.4 Combining Good Features of Basic Algorithms; 3.5 Going After Tighter Bounds; 3.6 Vision and Motion Planning; 3.6.1 The Model; 3.6.2 Algorithm VisBug-21; 3.6.3 Algorithm VisBug-22; 3.7 From a Point Robot to a Physical Robot
- 3.8 Other Approaches3.9 Which Algorithm to Choose?; 3.10 Discussion; 3.11 Exercises; 4 Accounting for Body Dynamics: The Jogger's Problem; 4.1 Problem Statement; 4.2 Maximum Turn Strategy; 4.2.1 The Model; 4.2.2 Sketching the Approach; 4.2.3 Velocity Constraints. Minimum Time Braking; 4.2.4 Optimal Straight-Line Motion; 4.2.5 Dynamics and Collision Avoidance; 4.2.6 The Algorithm; 4.2.7 Examples; 4.3 Minimum Time Strategy; 4.3.1 The Model; 4.3.2 Sketching the Approach; 4.3.3 Dynamics and Collision Avoidance; 4.3.4 Canonical Solution; 4.3.5 Near-Canonical Solution; 4.3.6 The Algorithm
- 4.3.7 Convergence. Computational Complexity4.3.8 Examples; 5 Motion Planning for Two-Dimensional Arm Manipulators; 5.1 Introduction; 5.1.1 Model and Definitions; 5.2 Planar Revolute-Revolute (RR) Arm; 5.2.1 Analysis; 5.2.2 Algorithm; 5.2.3 Step Planning; 5.2.4 Example; 5.2.5 Motion Planning with Vision and Proximity Sensing; 5.2.6 Concluding Remarks; 5.3 Distinct Kinematic Configurations of RR Arm; 5.4 Prismatic-Prismatic (PP, or Cartesian) Arm; 5.5 Revolute-Prismatic (RP) Arm with Parallel Links; 5.6 Revolute-Prismatic (RP) Arm with Perpendicular Links; 5.7 Prismatic-Revolute (PR) Arm
- 5.8 Topology of Arm's Free Configuration Space5.8.1 Workspace; Configuration Space; 5.8.2 Interaction Between the Robot and Obstacles; 5.8.3 Uniform Local Connectedness; 5.8.4 The General Case of 2-DOF Arm Manipulators; 5.9 Appendix; 5.10 Exercises; 6 Motion Planning for Three-Dimensional Arm Manipulators; 6.1 Introduction; 6.2 The Case of the PPP (Cartesian) Arm; 6.2.1 Model, Definitions, and Terminology; 6.2.2 The Approach; 6.2.3 Topology of W-Obstacles and C-Obstacles; 6.2.4 Connectivity of C; 6.2.5 Algorithm; 6.2.6 Examples; 6.3 Three-Link XXP Arm Manipulators
- 6.3.1 Robot Arm Representation Spaces
