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Author | : Jean-Paul Laumond |
Publisher | : Springer |
Total Pages | : 347 |
Release | : 2014-03-12 |
Genre | : Technology & Engineering |
ISBN | : 9783662167908 |
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How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection.
Author | : Michael Brady |
Publisher | : MIT Press |
Total Pages | : 618 |
Release | : 1982 |
Genre | : Computers |
ISBN | : 9780262021821 |
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Dynamics; Feedback control; Trajectory planning; Compliance; Task planning.
Author | : Jean-Claude Latombe |
Publisher | : Springer Science & Business Media |
Total Pages | : 668 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461540224 |
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One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Author | : Kevin M. Lynch |
Publisher | : Cambridge University Press |
Total Pages | : 545 |
Release | : 2017-05-25 |
Genre | : Computers |
ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author | : Yunong Zhang |
Publisher | : Springer Science & Business Media |
Total Pages | : 201 |
Release | : 2014-07-08 |
Genre | : Technology & Engineering |
ISBN | : 3642375189 |
Download Repetitive Motion Planning and Control of Redundant Robot Manipulators Book in PDF, ePub and Kindle
Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
Author | : Bruno Siciliano |
Publisher | : Springer Science & Business Media |
Total Pages | : 644 |
Release | : 2010-08-20 |
Genre | : Technology & Engineering |
ISBN | : 1846286417 |
Download Robotics Book in PDF, ePub and Kindle
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Author | : Karl Iagnemma |
Publisher | : Springer Science & Business Media |
Total Pages | : 136 |
Release | : 2004-07-08 |
Genre | : Technology & Engineering |
ISBN | : 9783540219682 |
Download Mobile Robots in Rough Terrain Book in PDF, ePub and Kindle
This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.
Author | : Krzysztof R. Kozlowski |
Publisher | : Springer |
Total Pages | : 401 |
Release | : 2006-07-26 |
Genre | : Technology & Engineering |
ISBN | : 1846284058 |
Download Robot Motion and Control Book in PDF, ePub and Kindle
This book presents recent results in robot motion and control. Twenty papers presented at the Fourth International Workshop on Robot Motion and Control held in 2004 have been expanded. The authors of these papers were carefully selected and represent leading institutions in this field. The book covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, topics not covered in previous books.
Author | : Jean-Paul Laumond |
Publisher | : Springer |
Total Pages | : 366 |
Release | : 1998 |
Genre | : Technology & Engineering |
ISBN | : |
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Content Description #Includes bibliographical references.
Author | : Giuseppe Carbone |
Publisher | : Springer |
Total Pages | : 520 |
Release | : 2015-03-12 |
Genre | : Technology & Engineering |
ISBN | : 3319147056 |
Download Motion and Operation Planning of Robotic Systems Book in PDF, ePub and Kindle
This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.