Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Sensor Based Motion Planning With Kinematic And Dynamic Constraints PDF full book. Access full book title Sensor Based Motion Planning With Kinematic And Dynamic Constraints.
| Author | : Andrei M. Shkel |
| Publisher | : |
| Total Pages | : 376 |
| Release | : 1997 |
| Genre | : |
| ISBN | : |
| Author | : Gaynor E. Taylor |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 454 |
| Release | : 2012-12-06 |
| Genre | : Computers |
| ISBN | : 3642840124 |
This volume contains a series of papers originally presented at a NATO Advanced Research Workshop (ARW) entitled Kinematic and Dynamic Issues in Sensor Based Control. The workshop, one of a series concerned with topics in sensory robotics, took place at II Ciocco, Castelvecchio di Pascoli, Italy in October 1987. Attendance was by invitation only and the majority of participants are recognised leaders in their field- some from the robotics community, others with a more general control background. The main topics of interest were grouped into eight sessions represented by the eight main sections of the book: 1: Modelling Techniques: General Kinematic and Dynamic Issues 2: Sensor Signal Processing 3: Force Control 4: Further Control Topics 5: Vision Based Control 6: Further Kinematic and Dynamic Issues 7: Computational Issues 8: Learning from Sensor Input Also included are brief reports of the roundtable discussions which sought to determine important future directions of research in this area. My thanks to all those who made the workshop possible: The NATO Scientific Affairs Division and the panel on Sensory Systems for Robotic Control who provided most of the financial support; the workshop committee, Dr. B. Espiau, Dr. P. Coiffet, Dr. P.
| Author | : Ahmad Taher Azar |
| Publisher | : Springer Nature |
| Total Pages | : 670 |
| Release | : 2023-06-30 |
| Genre | : Technology & Engineering |
| ISBN | : 3031265645 |
This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
| Author | : C.T. Leonides |
| Publisher | : Elsevier |
| Total Pages | : 485 |
| Release | : 2012-12-02 |
| Genre | : Technology & Engineering |
| ISBN | : 0323163033 |
Advances in Robotic Systems, Part 1 shows how the activity in robotic systems has increased significantly over the past decade. Major centers of research and development in robotic systems were established on the international scene, and these became focal points for the brilliant research efforts of many academicians and industrial professionals. The systems aspects of robotics, in general, and of robot control, in particular, are manifested through a number of technical facts. This book comprises 10 chapters, with the first focusing on applications of neural networks to robotics. The following chapters then discuss a unified approach to kinematic modeling, identification and compensation for robot calibration; nonlinear control algorithms in robotic systems; and kinematic and dynamic task space motion planning for robot control. Other chapters cover discrete kinematic modeling techniques in Cartesian space for robotic system; force distribution algorithms for multifingered grippers; frequency analysis for a discrete-time robot system; minimum cost trajectory planning for industrial robots; tactile sensing techniques in robotic systems; and sensor data fusion in robotic systems. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.
| Author | : Steven M. LaValle |
| Publisher | : Cambridge University Press |
| Total Pages | : 844 |
| Release | : 2006-05-29 |
| Genre | : Computers |
| ISBN | : 9780521862059 |
Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
| Author | : Jean-Paul Laumond |
| Publisher | : CRC Press |
| Total Pages | : 480 |
| Release | : 1997-02-11 |
| Genre | : Computers |
| ISBN | : 1439864527 |
This volume deals with core problems in robotics, like motion planning, sensor-based planning, manipulation, and assembly planning. It also discusses the application of robotics algorithms in other domains, such as molecular modeling, computer graphics, and image analysis. Topics Include: - Planning - Sensor Based Motion Planning - Control and Moti
| Author | : Kamal Gupta |
| Publisher | : Chichester, England ; Toronto : J. Wiley |
| Total Pages | : 376 |
| Release | : 1998-10-15 |
| Genre | : Computers |
| ISBN | : |
Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
| Author | : John Daniel Yamokoski |
| Publisher | : |
| Total Pages | : |
| Release | : 2009 |
| Genre | : |
| ISBN | : |
ABSTRACT: Dynamic fluoroscopic imaging and three-dimensional model-image registration techniques provide detailed joint kinematic measurements for motions constrained to small volumes of space. Several groups are working to mount radiographic imaging hardware onto mobile platforms to provide these same measurements for observation of unrestricted, natural human motion. Coined dynamic radiographic imaging (DRI), these systems could provide accurate measurement of skeletal kinematics during a wide range of clinically relevant daily activities. The Orthopedic Biomechanics laboratory at the University of Florida has been developing a DRI system based on two independently controlled, six degree of freedom robot manipulators. This dissertation focused on two topics necessary to move this system from the laboratory into widespread clinical use as a novel diagnostic imaging modality. The first topic was concerned with the safe operation of the dual-arm system in close proximity to people. A pre-measurement planning framework was developed to both assess the feasibility of the measurement activity considering the geometric and dynamic constraints of the robots as well as quantify the relative safety of the subject and efficiency of the sensing activity. Next a safe, real-time control system was developed. Paired with a real-time distance query algorithm, a velocity field control algorithm was developed to safely execute the measurement activity by avoiding collisions with the subject and environment. Since the intent of this system is ultimately a measurement tool, the second topic of research focused elucidating the effect the robots had on people's natural motion. It was found that while the robots did have a measurable effect, the magnitude of that effect was not clinically significant.
| Author | : Paul Eric Jacobs |
| Publisher | : |
| Total Pages | : 300 |
| Release | : 1989 |
| Genre | : |
| ISBN | : |
| Author | : Nadya L. Balabanska |
| Publisher | : |
| Total Pages | : 27 |
| Release | : 2020 |
| Genre | : |
| ISBN | : |
This contribution is an optimization-based method for robotic path-planning that is able to recover vehicle controls in addition to discovering an optimized, feasible trajectory from start to goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the “timed elastic band” trajectory optimization approach [1] for control input extraction functionality. This is achieved by the introduction of control input-dependent vertices into the factor-graph along with a way to systematically design dynamics violation costs without relying on hand-picked geometric parameters. An implementation of the planner successfully recovers vehicle control inputs and produces feasible trajectories in simulation testing.
