Control in robotics and automation sensor-based integration
Microcomputer technology and micromechanical design have contributed to recent rapid advances in Robotics. Particular advances have been made in sensor technology that allow robotic systems to gather data and react ""intelligently"" in flexible manufacturing systems. The analysis...
| Otros Autores: | , , |
|---|---|
| Formato: | Libro electrónico |
| Idioma: | Inglés |
| Publicado: |
San Diego :
Academic Press
c1999.
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| Edición: | 1st edition |
| Colección: | Academic Press series in engineering.
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| Materias: | |
| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009627155006719 |
Tabla de Contenidos:
- Front Cover; Control in Robotics and Automation: Sensor-Based Integration; Copyright Page; Contents; Preface; Contributors; Section I: Introduction; Chapter 1. Sensor-Based Planning and Control for Robotic Systems: An Event-Based Approach; 1.Introduction; 2. Event-Based Planning and Control; 3. Event-Based Motion Planning and Control for a Robot Arm; 4. Event-Based Planning and Control for Multirobot Coordination; 5. Implementation of Event-Based Planning and Control; 6. Conclusions; References; Section II: Visually Guided Sensing and Control; Chapter 2. Observer-Based Visual Servoing
- 1. Introduction2. Mathematical Formulation; 3. Jacobians; 4. Nonlinear Control Law; 5. Linearized Controller; 6. Experiments; 7. Conclusions; References; Chapter 3. Using Active Deformable Models in Robotic Visual Servoing; 1. Introduction; 2. Importance of the Visual Servoing Problem; 3. Issues; 4. Previous Work; 5. Proposed Approach; 6. The Minnesota Robotic Visual Tracker; 7. Experiments; 8. Discussion; 9. Future Work; 10. Conclusions; References; Chapter 4. Visually Guided Tracking and Manipulation; 1. Introduction; 2. Modeling of the Tracking and Grasping System
- 3. Estimation of the Motion Field of the Reference Point4. The Control Design for Tracking and Grasping; 5. Simulation Results and Discussion; 6. Conclusions; References; Section III: Multiple Sensor Fusion in Planning and Control; Chapter 5. Complementary Sensor Fusion in Robotic Manipulation; 1. Introduction; 2. Grasping; 3. Tracking an Unknown Trajectory on a Surface; 4. Conclusion; References; 5. Appendix; Chapter 6. Feedback Control with Force and Visual Sensor Fusion; 1. Introduction; 2. Previous Work; 3. Sensor Resolvability; 4. Visual Servoing Formulation; 5. Vision-Force Servoing
- 6. Experimental Results7. Conclusion; References; Chapter 7. Sensor Referenced Impact Control in Robotics; 1. Introduction; 2. History and Background; 3. Impact Dynamics; 4. Robust Impact Control; 5. Switching Control; 6. Experiments; 7. Summary; References; Suggested Readings; Secion IV: System Integration, Modeling, and Controller Design; Chapter 8. A Modular Approach To Sensor Integration; 1. Introduction; 2. Terminology; 3. The Problem of Algebraic Loops; 4. Scattering Theory; 5. Applying Scattering Theory To Robot Modules; 6. Computing the Jacobian Scattering Operator
- 7. Discretizing Dynamic Networks8. Imposing Nonlinear Constraints Using Sensor Feedback; 9. Implementation; 10. Examples; 11. Conclusions; References; Chapter 9. A Circuit-Theoretic Analysis of Robot Dynamics and Control; 1. Introduction; 2. Passivity of Robot Dynamics and Nonlinear Position-Dependent Circuits; 3. Sp-Id Control; 4. Adaptability and Learnability; 5. Realization of Friction/Gravity-Free Robots; 6. Generalization of Impedance Matching To Nonlinear Dynamics; 7. Learning as Making Progress Toward Impedance Matching; 8. Conclusion; References
- Chapter 10. Sensor-Based Planning and Control in Telerobotics
