Robotics: modelling, planning and control
Gespeichert in:
| Format: | Buch |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
London
Springer
2010
|
| Schriftenreihe: | Advanced textbooks in control and signal processing
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. s. [609] - 622 |
| Beschreibung: | XXIV, 632 S. Ill., graph. Darst. 25 cm |
| ISBN: | 9781846286414 9781849966344 1846286417 |
Internformat
MARC
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|---|---|---|---|
| 001 | BV035375777 | ||
| 003 | DE-604 | ||
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| 007 | t | ||
| 008 | 090318s2010 ad|| |||| 00||| eng d | ||
| 015 | |a 07,N15,0879 |2 dnb | ||
| 020 | |a 9781846286414 |c EUR 96.25 (freier Pr.) |9 978-1-84628-641-4 | ||
| 020 | |a 9781849966344 |c Pbk |9 9781849966344 | ||
| 020 | |a 1846286417 |9 1-8462-8641-7 | ||
| 024 | 3 | |a 9781846286414 | |
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| 084 | |a ST 308 |0 (DE-625)143655: |2 rvk | ||
| 084 | |a ZQ 6250 |0 (DE-625)158184: |2 rvk | ||
| 084 | |a FER 980f |2 stub | ||
| 245 | 1 | 0 | |a Robotics |b modelling, planning and control |c Bruno Siciliano ... |
| 264 | 1 | |a London |b Springer |c 2010 | |
| 300 | |a XXIV, 632 S. |b Ill., graph. Darst. |c 25 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Advanced textbooks in control and signal processing | |
| 500 | |a Literaturverz. s. [609] - 622 | ||
| 650 | 0 | 7 | |a Robotik |0 (DE-588)4261462-4 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Robotik |0 (DE-588)4261462-4 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Siciliano, Bruno |d 1959- |e Sonstige |0 (DE-588)115695842 |4 oth | |
| 776 | 0 | 8 | |i Erscheint auch als |n Online-Ausgabe |o 10.1007/978-1-84628-642-1 |z 978-1-84628-642-1 |
| 856 | 4 | 2 | |m Digitalisierung UB Bayreuth |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017180097&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-017180097 | ||
Datensatz im Suchindex
| DE-BY-862_location | 2000 |
|---|---|
| DE-BY-FWS_call_number | 2000/ZQ 6250 S566 |
| DE-BY-FWS_katkey | 373733 |
| DE-BY-FWS_media_number | 083000524053 083000524052 |
| _version_ | 1824554125358006272 |
| adam_text | Contents
1
Introduction
............................................... 1
1.1
Robotics
.............................................. 1
1.2
Robot
Mechanical
Structure
............................. 3
1.2.1
Robot
Manipulators
.............................. 4
1.2.2
Mobile Robots
................................... 10
1.3
Industrial
Robotics
..................................... 15
1.4
Advanced Robotics
..................................... 25
1.4.1
Field
Robots
.................................... 26
1.4.2
Service Robots
................................... 27
1.5
Robot
Modelling,
Planning
and Control
................... 29
1.5.1
Modelling.......................................
30
1.5.2
Planning
........................................ 32
1.5.3
Control
......................................... 32
Bibliography
........................................... 33
2
Kinematics
................................................ 39
2.1
Pose of a Rigid Body
................................... 39
2.2
Rotation Matrix
....................................... 40
2.2.1
Elementary Rotations
............................. 41
2.2.2
Representation of a Vector
........................ 42
2.2.3
Rotation of a Vector
.............................. 44
2.3
Composition of Rotation Matrices
........................ 45
2.4
Euler
Angles
........................................... 48
2.4.1
ZYZ Angles
..................................... 49
2.4.2
RPY Angles
..................................... 51
2.5
Angle and Axis
........................................ 52
2.6
Unit Quaternion
....................................... 54
2.7
Homogeneous Transformations
........................... 56
2.8
Direct Kinematics
...................................... 58
2.8.1
Open Chain
..................................... 60
2.8.2
Denavit-Hartenberg Convention
................... 61
xviii Contents
2.8.3
Closed
Chain.................................... 65
2.9
Kinematics of Typical Manipulator Structures
............. 68
2.9.1
Three-link Planar Arm
............................ 69
2.9.2
Parallelogram Arm
............................... 70
2.9.3
Spherical Arm
................................... 72
2.9.4
Anthropomorphic Arm
............................ 73
2.9.5
Spherical Wrist
.................................. 75
2.9.6
Stanford Manipulator
............................. 76
2.9.7
Anthropomorphic Arm with Spherical Wrist
......... 77
2.9.8 DLR
Manipulator
................................ 79
2.9.9
Humanoid Manipulator
........................... 81
2.10
Joint Space and Operational Space
....................... 83
2.10.1
Workspace
...................................... 85
2.10.2
Kinematic Redundancy
........................... 87
2.11
Kinematic Calibration
.................................. 88
2.12
Inverse Kinematics Problem
............................. 90
2.12.1
Solution of Three-link Planar Arm
................. 91
2.12.2
Solution of Manipulators with Spherical Wrist
....... 94
2.12.3
Solution of Spherical Arm
......................... 95
2.12.4
Solution of Anthropomorphic Arm
................. 96
2.12.5
Solution of Spherical Wrist
........................ 99
Bibliography
...........................................100
Problems
..............................................100
3
Differential Kinematics and Statics
........................105
3.1
Geometric Jacobian
....................................105
3.1.1
Derivative of a Rotation Matrix
....................106
3.1.2
Link Velocities
...................................108
3.1.3
Jacobian Computation
............................
Ill
3.2
Jacobian of Typical Manipulator Structures
...............113
3.2.1
Three-link Planar Arm
............................113
3.2.2
Anthropomorphic Arm
............................114
3.2.3
Stanford Manipulator
.............................115
3.3
Kinematic Singularities
.................................116
3.3.1
Singularity Decoupling
............................117
3.3.2
Wrist Singularities
...............................119
3.3.3
Arm Singularities
................................119
3.4
Analysis of Redundancy
.................................121
3.5
Inverse Differential Kinematics
...........................123
3.5.1
Redundant Manipulators
..........................124
3.5.2
Kinematic Singularities
...........................127
3.6
Analytical Jacobian
....................................128
3.7
Inverse Kinematics Algorithms
...........................132
3.7.1
Jacobian
(Pseudo-)
inverse
.........................133
3.7.2
Jacobian Transpose
...............................134
Contents xix
3.7.3
Orientation
Error
................................137
3.7.4
Second-order Algorithms
..........................141
3.7.5
Comparison Among Inverse Kinematics Algorithms
. . . 143
3.8
Statics
................................................147
3.8.1
Kineto-Statics Duality
............................148
3.8.2
Velocity and Force Transformation
.................149
3.8.3
Closed Chain
....................................151
3.9
Manipulability Ellipsoids
................................152
Bibliography
...........................................158
Problems
..............................................159
4
Trajectory Planning
.......................................161
4.1
Path and Trajectory
....................................161
4.2
Joint Space Trajectories
.................................162
4.2.1
Point-to-Point Motion
............................163
4.2.2
Motion Through a Sequence of Points
..............168
4.3
Operational Space Trajectories
...........................179
4.3.1
Path Primitives
..................................181
4.3.2
Position
.........................................184
4.3.3
Orientation
......................................187
Bibliography
...........................................188
Problems
..............................................189
5
Actuators and Sensors
.....................................191
5.1
Joint Actuating System
.................................191
5.1.1
Transmissions
...................................192
5.1.2
Servomotors
.....................................193
5.1.3
Power Amplifiers
.................................197
5.1.4
Power Supply
....................................198
5.2
Drives
................................................198
5.2.1
Electric Drives
...................................198
5.2.2
Hydraulic Drives
.................................202
5.2.3
Transmission Effects
..............................204
5.2.4
Position Control
.................................206
5.3
Proprioceptive Sensors
..................................209
5.3.1
Position Transducers
.............................210
5.3.2
Velocity Transducers
.............................214
5.4
Exteroceptive Sensors
...................................215
5.4.1
Force Sensors
....................................215
5.4.2
Range Sensors
...................................219
5.4.3
Vision Sensors
...................................225
Bibliography
...........................................230
Problems
..............................................230
Contents
Control
Architecture
......................................233
6.1
Functional
Architecture
.................................233
6.2
Programming
Environment
..............................238
6.2.1 Teaching-by-Showing.............................240
6.2.2
Robot-oriented Programming
......................241
6.3
Hardware
Architecture
..................................242
Bibliography
...........................................245
Problems
..............................................245
Dynamics
..................................................247
7.1 Lagrange
Formulation
..................................247
7.1.1
Computation of Kinetic Energy
....................249
7.1.2
Computation of Potential Energy
..................255
7.1.3
Equations of Motion
..............................255
7.2
Notable Properties of Dynamic Model
....................257
7.2.1
Skew-symmetry of Matrix
В
-
2C
.................257
7.2.2
Linearity in the Dynamic Parameters
...............259
7.3
Dynamic Model of Simple Manipulator Structures
..........264
7.3.1
Two-link Cartesian Arm
..........................264
7.3.2
Two-link Planar Arm
.............................265
7.3.3
Parallelogram Arm
...............................277
7.4
Dynamic Parameter Identification
........................280
7.5
Newton-Euler Formulation
..............................282
7.5.1
Link Accelerations
...............................285
7.5.2
Recursive Algorithm
..............................286
7.5.3
Example
........................................289
7.6
Direct Dynamics and Inverse Dynamics
...................292
7.7
Dynamic Scaling of Trajectories
..........................294
7.8
Operational Space Dynamic Model
.......................296
7.9
Dynamic Manipulability Ellipsoid
........................299
Bibliography
...........................................301
Problems
..............................................301
Motion Control
............................................303
8.1
The Control Problem
...................................303
8.2
Joint Space Control
....................................305
8.3
Decentralized Control
...................................309
8.3.1
Independent Joint Control
........................311
8.3.2
Decentralized Feedforward Compensation
...........319
8.4
Computed Torque Feedforward Control
...................324
8.5
Centralized Control
.....................................327
8.5.1
PD Control with Gravity Compensation
............328
8.5.2
Inverse Dynamics Control
.........................330
8.5.3
Robust Control
..................................333
8.5.4
Adaptive Control
................................338
Contents xxi
8.6
Operational
Space
Control
..............................343
8.6.1 General
Schemes
.................................344
8.6.2
PD
Control with Gravity Compensation
............345
8.6.3
Inverse Dynamics Control
.........................347
8.7
Comparison Among Various Control Schemes
..............349
Bibliography
...........................................359
Problems
..............................................360
9
Force Control
..............................................363
9.1
Manipulator Interaction with Environment
................363
9.2
Compliance Control
....................................364
9.2.1
Passive Compliance
..............................366
9.2.2
Active Compliance
...............................367
9.3
Impedance Control
.....................................372
9.4
Force Control
..........................................378
9.4.1
Force Control with Inner Position Loop
.............379
9.4.2
Force Control with Inner Velocity Loop
.............380
9.4.3
Parallel Force/Position Control
....................381
9.5
Constrained Motion
....................................384
9.5.1
Rigid Environment
...............................385
9.5.2
Compliant Environment
...........................389
9.6
Natural and Artificial Constraints
........................391
9.6.1
Analysis of Tasks
................................392
9.7
Hybrid Force/Motion Control
............................396
9.7.1
Compliant Environment
...........................397
9.7.2
Rigid Environment
...............................401
Bibliography
...........................................403
Problems
..............................................404
10
Visual Servoing
............................................407
10.1
Vision for Control
......................................407
10.1.1
Configuration of the Visual System
.................409
10.2
Image Processing
.......................................410
10.2.1
Image Segmentation
..............................411
10.2.2
Image Interpretation
..............................416
10.3
Pose Estimation
........................................418
10.3.1
Analytic Solution
................................419
10.3.2
Interaction Matrix
...............................424
10.3.3
Algorithmic Solution
.............................427
10.4
Stereo Vision
..........................................433
10.4.1 Epipolar
Geometry
...............................433
10.4.2 Triangulation....................................435
10.4.3
Absolute Orientation
.............................436
10.4.4 3D
Reconstruction from Planar Homography
........438
10.5
Camera Calibration
....................................440
xxii Contents
10.6 The Visual Servoing Problem............................443
10.7
Position-based
Visual Servoing...........................445
10.7.1 PD
Control with Gravity Compensation
............446
10.7.2
Resolved-velocity Control
.........................447
10.8
Image-based Visual Servoing
.............................449
10.8.1
PD Control with Gravity Compensation
............449
10.8.2
Resolved-velocity Control
.........................451
10.9
Comparison Among Various Control Schemes
..............453
10.10
Hybrid Visual Servoing
.................................460
Bibliography
...........................................465
Problems
..............................................466
11
Mobile Robots
.............................................469
11.1
Nonholonomic Constraints
...............................469
11.1.1
Integrability Conditions
...........................473
11.2
Kinematic Model
.......................................476
11.2.1
Unicycle
........................................478
11.2.2
Bicycle
.........................................479
11.3
Chained Form
.........................................482
11.4
Dynamic Model
........................................485
11.5
Planning
..............................................489
11.5.1
Path and Timing Law
............................489
11.5.2
Flat Outputs
....................................491
11.5.3
Path Planning
...................................492
11.5.4
Trajectory Planning
..............................498
11.5.5
Optimal Trajectories
.............................499
11.6
Motion Control
........................................502
11.6.1
Trajectory Tracking
..............................503
11.6.2
Regulation
......................................510
11.7
Odometric Localization
.................................514
Bibliography
...........................................518
Problems
..............................................518
12
Motion Planning
..........................................523
12.1
The Canonical Problem
.................................523
12.2
Configuration Space
....................................525
12.2.1
Distance
........................................527
12.2.2
Obstacles
.......................................527
12.2.3
Examples of Obstacles
............................528
12.3
Planning via Retraction
.................................532
12.4
Planning via Cell Decomposition
.........................536
12.4.1
Exact Decomposition
.............................536
12.4.2
Approximate Decomposition
.......................539
12.5
Probabilistic Planning
..................................541
12.5.1
PRM
Method
....................................541
Contents xxiii
12.5.2
Bidirectional RRT Method
........................543
12.6
Planning via Artificial Potentials
.........................546
12.6.1
Attractive Potential
..............................546
12.6.2
Repulsive Potential
...............................547
12.6.3
Total Potential
...................................549
12.6.4
Planning Techniques
..............................550
12.6.5
The Local Minima Problem
.......................551
12.7
The Robot Manipulator Case
............................554
Bibliography
...........................................557
Problems
..............................................557
Appendices
A Linear Algebra
............................................563
A.I Definitions
............................................563
A.
2
Matrix Operations
.....................................565
A.3 Vector Operations
......................................569
A.
4
Linear Transformation
..................................572
A.
5
Eigenvalues and Eigenvectors
............................573
A.
6
Bilinear Forms and Quadratic Forms
......................574
A.
7
Pseudo-inverse
.........................................575
A.
8
Singular Value Decomposition
...........................577
Bibliography
...........................................578
В
Rigid-body Mechanics
.....................................579
B.I Kinematics
............................................579
B.2 Dynamics
.............................................581
B.3 Work and Energy
......................................584
B.4 Constrained Systems
...................................585
Bibliography
...........................................588
С
Feedback Control
..........................................589
C.I Control of Single-input/Single-output Linear Systems
.......589
С
2
Control of Nonlinear Mechanical Systems
..................594
C.3 Lyapunov Direct Method
................................596
Bibliography
...........................................598
D
Differential Geometry
.....................................599
D.I Vector Fields and Lie Brackets
...........................599
D.2 Nonlinear Controllability
................................603
Bibliography
...........................................604
xxiv Contents
E
Graph
Search Algorithms
..................................605
E.I Complexity
............................................605
E.2 Breadth-first and Depth-first Search
......................606
E.3 A* Algorithm
..........................................607
Bibliography
...........................................608
References
.....................................................609
Index
..........................................................623
|
| any_adam_object | 1 |
| author_GND | (DE-588)115695842 |
| building | Verbundindex |
| bvnumber | BV035375777 |
| classification_rvk | ST 308 ZQ 6250 |
| classification_tum | FER 980f |
| ctrlnum | (OCoLC)633196152 (DE-599)BVBBV035375777 |
| discipline | Informatik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV035375777 |
| illustrated | Illustrated |
| indexdate | 2025-02-20T06:46:48Z |
| institution | BVB |
| isbn | 9781846286414 9781849966344 1846286417 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-017180097 |
| oclc_num | 633196152 |
| open_access_boolean | |
| owner | DE-706 DE-703 DE-20 DE-91 DE-BY-TUM DE-384 DE-573 DE-1043 DE-91G DE-BY-TUM DE-92 DE-29T DE-862 DE-BY-FWS DE-M347 DE-473 DE-BY-UBG DE-1051 DE-1050 |
| owner_facet | DE-706 DE-703 DE-20 DE-91 DE-BY-TUM DE-384 DE-573 DE-1043 DE-91G DE-BY-TUM DE-92 DE-29T DE-862 DE-BY-FWS DE-M347 DE-473 DE-BY-UBG DE-1051 DE-1050 |
| physical | XXIV, 632 S. Ill., graph. Darst. 25 cm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Springer |
| record_format | marc |
| series2 | Advanced textbooks in control and signal processing |
| spellingShingle | Robotics modelling, planning and control Robotik (DE-588)4261462-4 gnd |
| subject_GND | (DE-588)4261462-4 |
| title | Robotics modelling, planning and control |
| title_auth | Robotics modelling, planning and control |
| title_exact_search | Robotics modelling, planning and control |
| title_full | Robotics modelling, planning and control Bruno Siciliano ... |
| title_fullStr | Robotics modelling, planning and control Bruno Siciliano ... |
| title_full_unstemmed | Robotics modelling, planning and control Bruno Siciliano ... |
| title_short | Robotics |
| title_sort | robotics modelling planning and control |
| title_sub | modelling, planning and control |
| topic | Robotik (DE-588)4261462-4 gnd |
| topic_facet | Robotik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017180097&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT sicilianobruno roboticsmodellingplanningandcontrol |
Inhaltsverzeichnis
THWS Schweinfurt Zentralbibliothek Lesesaal
| Signatur: |
2000 ZQ 6250 S566 |
|---|---|
| Exemplar 1 | ausleihbar Verfügbar Bestellen |
| Exemplar 2 | ausleihbar Verfügbar Bestellen |