Robotics, vision and control: fundamental algorithms in MATLAB
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2011
|
| Series: | Springer tracts in advanced robotics
73 |
| Subjects: | |
| Online Access: | FCO01 Inhaltsverzeichnis |
| Item Description: | Zusätzliches Online-Angebot unter www.petercorke.com/RVC |
| Physical Description: | XXIV, 570 S. Ill., graph. Darst. |
| ISBN: | 3642201431 9783642201431 |
Staff View
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Record in the Search Index
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| adam_text | Titel: Robotics, vision and control
Autor: Corke, Peter
Jahr: 2011
Contents
1 Introduction ................................................................1
1.1 About the Book ..............................................................6
1.1.1 The MATLAB Software .............................................7
1.1.2 Audience and Prerequisites .........................................8
1.1.3 Notation and Conventions ..........................................9
1.1.4 How to Use the Book ...............................................9
1.1.5 Teaching with the Book ........................................... 10
1.1.6 Outline ........................................................... 10
Part I Foundations ..................................................... 13
2 Representing Position and Orientation ................................... 15
2.1 Representing Pose in 2-Dimensions ....................................... 19
2.2 Representing Pose in 3-Dimensions ....................................... 24
2.2.1 Representing Orientation in 3-Dimensions ....................... 25
2.2.2 Combining Translation and Orientation .......................... 37
2.3 Wrapping Up .............................................................. 39
Further Reading ........................................................... 40
Exercises ..................................................................41
3 Time and Motion .........................................................43
3.1 Trajectories ................................................................ 43
3.1.1 Smooth One-Dimensional Trajectories ...........................43
3.1.2 Multi-Dimensional Case .......................................... 46
3.1.3 Multi-Segment Trajectories ....................................... 46
3.1.4 Interpolation of Orientation in 3D ................................48
3.1.5 Cartesian Motion ................................................. 49
3.2 Time Varying Coordinate Frames .......................................... 51
3.2.1 Rotating Coordinate Frame ....................................... 51
3.2.2 Incremental Motion .............................................. 52
3.2.3 Inertial Navigation Systems ...................................... 53
3.3 Wrapping Up .............................................................. 56
Further Reading ........................................................... 56
Exercises .................................................................. 56
Part II Mobile Robots ................................................... 59
4 Mobile Robot Vehicles .................................................... 65
4.1 Mobility ................................................................... 65
4.2 Car-like Mobile Robots .................................................... 67
4.2.1 Moving to a Point ................................................. 71
4.2.2 Following a Line .................................................. 72
4.2.3 Following a Path .................................................. 74
4.2.4 Moving to a Pose ................................................. 75
Contents
4.3 Flying Robots ............................................................. 78
4.4 Wrapping Up .............................................................. 84
Further Reading ........................................................... 84
Exercises .................................................................. 85
5 Navigation ................................................................ 87
5.1 Reactive Navigation ....................................................... 88
5.1.1 Braitenberg Vehicles .............................................. 88
5.1.2 Simple Automata ................................................. 90
5.2 Map-Based Planning ...................................................... 91
5.2.1 Distance Transform .............................................. 93
5.2.2 D* ................................................................ 95
5.2.3 Voronoi Roadmap Method ....................................... 97
5.2.4 Probabilistic Roadmap Method ................................... 99
5.2.5 RRT ............................................................. 102
5.3 Wrapping Up ............................................................. 104
Further Reading ..........................................................105
Exercises ................................................................. 106
6 Localization .............................................................. 107
6.1 Dead Reckoning .......................................................... Ill
6.1.1 Modeling the Vehicle ............................................ Ill
6.1.2 Estimating Pose ................................................. 113
6.2 Using a Map .............................................................. 116
6.3 Creating a Map ...........................................................120
6.4 Localization and Mapping ................................................ 123
6.5 Monte-Carlo Localization ................................................. 125
6.6 Wrapping Up ............................................................. 128
Further Reading .......................................................... 129
Notes on Toolbox Implementation ........................................ 130
Exercises ................................................................. 130
Part III Arm-Type Robots ............................................... 133
7 Robot Arm Kinematics ................................................... 137
7.1 Describing a Robot Arm ..................................................137
7.2 Forward Kinematics ...................................................... 140
7.2.1 A 2-Link Robot .................................................. 141
7.2.2 A 6-Axis Robot .................................................. 143
7.3 Inverse Kinematics ....................................................... 146
7.3.1 Closed-Form Solution ........................................... 146
7.3.2 Numerical Solution .............................................. 149
7.3.3 Under-Actuated Manipulator .................................... 149
7.3.4 Redundant Manipulator ......................................... 150
7.4 Trajectories ............................................................... 152
7.4.1 Joint-Space Motion .............................................. 153
7.4.2 Cartesian Motion ................................................ 155
7.4.3 Motion through a Singularity .................................... 156
7.4.4 Configuration Change ........................................... 157
7.5 Advanced Topics ......................................................... 158
7.5.1 Joint Angle Offsets ............................................... 158
7.5.2 Determining Denavit-Hartenberg Parameters ...................159
7.5.3 Modified Denavit-Hartenberg Notation ......................... 160
7.6 Application: Drawing ..................................................... 162
Contents
7.7 Application: a Simple Walking Robot ..................................... 163
7.7.1 Kinematics ...................................................... 163
7.7.2 Motion of One Leg ............................................... 165
7.7.3 Motion of Four Legs ............................................. 166
7.8 Wrapping Up ............................................................. 167
Further Reading .......................................................... 168
The plot Method .......................................................... 168
Exercises ................................................................. 170
8 Velocity Relationships ................................................... 171
8.1 Manipulator Jacobian ..................................................... 171
8.1.1 Transforming Velocities
between Coordinate Frames ..................................... 174
8.1.2 Jacobian in the End-Effector Coordinate Frame .................. 175
8.1.3 Analytical Jacobian .............................................. 176
8.1.4 Jacobian Condition and Manipulability .......................... 177
8.2 Resolved-Rate Motion Control ............................................ 180
8.2.1 Jacobian Singularity ............................................. 182
8.2.2 Jacobian for under-Actuated Robot .............................. 183
8.2.3 Jacobian for over-Actuated Robot ................................ 184
8.3 Force Relationships ....................................................... 186
8.3.1 Transforming Wrenches between Frames ........................ 186
8.3.2 Transforming Wrenches to Joint Space ........................... 186
8.4 Inverse Kinematics: a General Numerical Approach ...................... 187
8.5 Wrapping Up ............................................................. 188
Further Reading ..........................................................189
Exercises .................................................................189
9 Dynamics and Control ................................................... 191
9.1 Equations of Motion ......................................................191
9.1.1 Gravity Term .................................................... 193
9.1.2 Inertia Matrix ................................................... 195
9.1.3 Coriolis Matrix ..................................................196
9.1.4 Effect of Payload ................................................. 197
9.1.5 Base Force ....................................................... 198
9.1.6 Dynamic Manipulability ......................................... 198
9.2 Drive Train ...............................................................200
9.2.1 Friction ..........................................................201
9.3 Forward Dynamics .......................................................202
9.4 Manipulator Joint Control ................................................204
9.4.1 Actuators ........................................................204
9.4.2 Independent Joint Control .......................................204
9.4.3 Rigid-Body Dynamics Compensation ............................211
9.4.4 Flexible Transmission ...........................................213
9.5 Wrapping Up .............................................................215
Further Reading ..........................................................216
Exercises .................................................................217
Part IV Computer Vision ................................................219
10 Light and Color ..........................................................223
10.1 Spectral Representation of Light ..........................................223
10.1.1 Absorption ......................................................225
10.1.2 Reflection .......................................................226
xviii Contents
10.2 Color .....................................................................227
10.2.1 Reproducing Colors .............................................230
10.2.2 Chromaticity Space ..............................................233
10.2.3 Color Names ....................................................236
10.2.4 Other Color Spaces ..............................................236
10.2.5 Transforming between Different Primaries ......................238
10.2.6 What Is White? ..................................................240
10.3 Advanced Topics .........................................................240
10.3.1 Color Constancy .................................................241
10.3.2 White Balancing .................................................241
10.3.3 Color Change Due to Absorption ................................242
10.3.4 Gamma ..........................................................243
10.3.5 Application: Color Image ........................................245
10.4 Wrapping Up .............................................................247
Further Reading ..........................................................248
Data Sources .............................................................249
Exercises .................................................................249
11 Image Formation ........................................................251
11.1 Perspective Transform ....................................................251
11.1.1 Lens Distortion ..................................................261
11.2 Camera Calibration .......................................................262
11.2.1 Homogeneous Transformation Approach ........................262
11.2.2 Decomposing the Camera Calibration Matrix ....................264
11.2.3 Pose Estimation .................................................266
11.2.4 Camera Calibration Toolbox .....................................266
11.3 Non-Perspective Imaging Models .........................................269
11.3.1 Fisheye Lens Camera ............................................270
11.3.2 Catadioptric Camera ............................................272
11.3.3 Spherical Camera ................................................274
11.4 Unified Imaging ..........................................................275
11.4.1 Mapping Wide-Angle Images
to the Sphere ....................................................276
11.4.2 Synthetic Perspective Images ....................................278
11.5 Wrapping Up .............................................................280
Further Reading ..........................................................280
Camera Classes ...........................................................282
Exercises .................................................................283
12 Image Processing ........................................................285
12.1 Obtaining an Image ......................................................285
12.1.1 Images from Files ...............................................285
12.1.2 Images from an Attached Camera ...............................289
12.1.3 Images from a Movie File ........................................289
12.1.4 Images from the Web ............................................290
12.1.5 Images from Code ...............................................291
12.2 Monadic Operations ......................................................293
12.3 Diadic Operations ........................................................296
12.4 Spatial Operations ........................................................299
12.4.1 Convolution .....................................................300
12.4.2 Template Matching ..............................................311
12.4.3 Non-Linear Operations ..........................................316
12.5 Mathematical Morphology ...............................................317
12.5.1 Noise Removal ...................................................321
Contents xix
12.5.2 Boundary Detection .............................................322
12.5.3 Hit and Miss Transform .........................................322
12.6 Shape Changing ..........................................................324
12.6.1 Cropping ........................................................324
12.6.2 Image Resizing ..................................................324
12.6.3 Image Pyramids .................................................326
12.6.4 Image Warping ..................................................327
12.7 Wrapping Up .............................................................330
Further Reading ..........................................................330
Sources of Image Data ....................................................332
MATLAB® Software Tools ................................................332
General Software Tools ...................................................332
Exercises .................................................................333
13 Image Feature Extraction ................................................335
13.1 Region Features ..........................................................337
13.1.1 Classification ....................................................337
13.1.2 Representation ..................................................346
13.1.3 Description ......................................................350
13.1.4 Recap ............................................................360
13.2 Line Features .............................................................361
13.3 Point Features ............................................................365
13.3.1 Classical Corner Detectors .......................................366
13.3.2 Scale-Space Corner Detectors ....................................371
13.4 Wrapping Up .............................................................376
Further Reading ..........................................................376
Exercises .................................................................378
14 Using Multiple Images ...................................................381
14.1 Feature Correspondence ..................................................382
14.2 Geometry of Multiple Views ..............................................386
14.2.1 The Fundamental Matrix ........................................388
14.2.2 The Essential Matrix .............................................390
14.2.3 Estimating the Fundamental Matrix .............................391
14.2.4 Planar Homography .............................................396
14.3 Stereo Vision .............................................................401
14.3.1 Sparse Stereo ....................................................401
14.3.2 Dense Stereo Matching ..........................................405
14.3.3 Peak Refinement ................................................412
14.3.4 Cleaning up and Reconstruction .................................413
14.3.5 3D Texture Mapped Display .....................................415
14.3.6 Anaglyphs .......................................................416
14.3.7 Image Rectification ..............................................417
14.3.8 Plane Fitting .....................................................419
14.3.9 Matching Sets of 3D Points ......................................420
14.4 Structure and Motion ....................................................422
14.5 Application: Perspective Correction ......................................428
14.6 Application: Mosaicing ...................................................431
14.7 Application: Image Matching and Retrieval ...............................433
14.8 Application: Image Sequence Processing .................................439
14.9 Wrapping Up .............................................................442
Further Reading ..........................................................442
Resources ................................................................445
Exercises .................................................................446
Contents
Part V Robotics, Vision and Control ....................................451
15 Vision-Based Control ....................................................455
15.1 Position-Based Visual Servoing ...........................................456
15.2 Image-Based Visual Servoing .............................................459
15.2.1 Camera and Image Motion ......................................460
15.2.2 Controlling Feature Motion ......................................464
15.2.3 Depth ...........................................................469
15.2.4 Performance Issues ..............................................471
15.3 Using Other Image Features ..............................................473
15.3.1 Line Features ....................................................473
15.3.2 Circle Features ...................................................474
15.4 Wrapping Up .............................................................476
Further Reading ..........................................................476
Exercises .................................................................478
16 Advanced Visual Servoing ...............................................481
16.1 XY/Z-Partitioned IBVS ...................................................481
16.2 IBVS Using Polar Coordinates ............................................484
16.3 IBVS for a Spherical Camera ..............................................486
16.4 Application: Arm-Type Robot ............................................488
16.5 Application: Mobile Robot ................................................489
16.5.1 Holonomic Mobile Robot ........................................489
16.5.2 Non-Holonomic Mobile Robot ...................................491
16.6 Application: Aerial Robot .................................................492
16.7 Wrapping Up .............................................................494
Further Reading ..........................................................494
Exercises .................................................................495
Appendices ..............................................................497
A Installing the Toolboxes .................................................499
B Simulink® ................................................................501
C MATLAB® Objects ........................................................505
D Linear Algebra Refresher ................................................511
E Ellipses ...................................................................517
F Gaussian Random Variables .............................................523
G Jacobians ................................................................527
H Kalman Filter .............................................................529
I Homogeneous Coordinates .............................................533
J Graphs ...................................................................535
K Peak Finding .............................................................539
Bibliography .............................................................543
Index .....................................................................553
Index of People ...........................................................553
Index of Functions, Classes and Methods .................................554
General Index ............................................................558
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| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| id | DE-604.BV039619124 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:07:34Z |
| institution | BVB |
| isbn | 3642201431 9783642201431 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024469571 |
| oclc_num | 724964819 |
| open_access_boolean | |
| owner | DE-1043 DE-634 DE-83 DE-703 DE-861 DE-20 DE-573 DE-858 |
| owner_facet | DE-1043 DE-634 DE-83 DE-703 DE-861 DE-20 DE-573 DE-858 |
| physical | XXIV, 570 S. Ill., graph. Darst. |
| psigel | ZDB-30-PQE |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Corke, Peter I. 1959- Verfasser (DE-588)174089309 aut Robotics, vision and control fundamental algorithms in MATLAB Peter Corke Berlin [u.a.] Springer 2011 XXIV, 570 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 73 Zusätzliches Online-Angebot unter www.petercorke.com/RVC Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf MATLAB (DE-588)4329066-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf SIMULINK (DE-588)4480546-9 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Roboterarm (DE-588)4507425-2 gnd rswk-swf Visual servoing (DE-588)7719524-3 gnd rswk-swf Robotik (DE-588)4261462-4 s Bahnplanung (DE-588)4267628-9 s Maschinelles Sehen (DE-588)4129594-8 s Mobiler Roboter (DE-588)4191911-7 s Roboterarm (DE-588)4507425-2 s Visual servoing (DE-588)7719524-3 s MATLAB (DE-588)4329066-8 s SIMULINK (DE-588)4480546-9 s DE-604 Erscheint auch als Online-Ausgabe 978-3-642-20144-8 Springer tracts in advanced robotics 73 (DE-604)BV016421724 73 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024469571&sequence=000004&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Corke, Peter I. 1959- Robotics, vision and control fundamental algorithms in MATLAB Springer tracts in advanced robotics Maschinelles Sehen (DE-588)4129594-8 gnd MATLAB (DE-588)4329066-8 gnd Bahnplanung (DE-588)4267628-9 gnd SIMULINK (DE-588)4480546-9 gnd Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Roboterarm (DE-588)4507425-2 gnd Visual servoing (DE-588)7719524-3 gnd |
| subject_GND | (DE-588)4129594-8 (DE-588)4329066-8 (DE-588)4267628-9 (DE-588)4480546-9 (DE-588)4261462-4 (DE-588)4191911-7 (DE-588)4507425-2 (DE-588)7719524-3 |
| title | Robotics, vision and control fundamental algorithms in MATLAB |
| title_auth | Robotics, vision and control fundamental algorithms in MATLAB |
| title_exact_search | Robotics, vision and control fundamental algorithms in MATLAB |
| title_full | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_fullStr | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_full_unstemmed | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_short | Robotics, vision and control |
| title_sort | robotics vision and control fundamental algorithms in matlab |
| title_sub | fundamental algorithms in MATLAB |
| topic | Maschinelles Sehen (DE-588)4129594-8 gnd MATLAB (DE-588)4329066-8 gnd Bahnplanung (DE-588)4267628-9 gnd SIMULINK (DE-588)4480546-9 gnd Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Roboterarm (DE-588)4507425-2 gnd Visual servoing (DE-588)7719524-3 gnd |
| topic_facet | Maschinelles Sehen MATLAB Bahnplanung SIMULINK Robotik Mobiler Roboter Roboterarm Visual servoing |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024469571&sequence=000004&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT corkepeteri roboticsvisionandcontrolfundamentalalgorithmsinmatlab |