Robotics and Control : Fundamental Algorithms in MATLAB®

• Autore: Corke Peter
• Pubblicazione: Cham : , : Springer International Publishing AG, , 2021; ©2022
• Descrizione fisica: 1 online resource (370 pages)
• Soggetto genere / forma: Electronic books.
• Nota di contenuto: Intro -- Foreword -- Foreword to the Second Edition -- Preface -- Contents -- Nomenclature -- Chapter 1 Introduction -- 1.1 Robots, Jobs and Ethics -- 1.2 About the Book -- 1.2.1 MATLAB Software and the Toolboxes -- 1.2.2 Notation, Conventions and Organization -- 1.2.3 Audience and Prerequisites -- 1.2.4 Learning with the Book -- 1.2.5 Teaching with the Book -- 1.2.6 Outline -- Part I Foundations -- Chapter 2 Representing Position and Orientation -- 2.1 Working in Two Dimensions (2D) -- 2.1.1 Orientation in 2-Dimensions -- 2.1.2 Pose in 2-Dimensions -- 2.2 Working in Three Dimensions (3D) -- 2.2.1 Orientation in 3-Dimensions -- 2.2.2 Pose in 3-Dimensions -- 2.3 Advanced Topics -- 2.3.1 Normalization -- 2.3.2 Understanding the Exponential Mapping -- 2.3.3 More About Twists -- 2.3.4 Dual Quaternions -- 2.3.5 Configuration Space -- 2.4 Using the Toolbox -- 2.5 Wrapping Up -- Chapter 3 Time and Motion -- 3.1 Time-Varying Pose -- 3.1.1 Derivative of Pose -- 3.1.2 Transforming Spatial Velocities -- 3.1.3 Incremental Rotation -- 3.1.4 Incremental Rigid-Body Motion -- 3.2 Accelerating Bodies and Reference Frames -- 3.2.1 Dynamics of Moving Bodies -- 3.2.2 Transforming Forces and Torques -- 3.2.3 Inertial Reference Frame -- 3.3 Creating Time-Varying Pose -- 3.3.1 Smooth One-Dimensional Trajectories -- 3.3.2 Multi-Dimensional Trajectories -- 3.3.3 Multi-Segment Trajectories -- 3.3.4 Interpolation of Orientation in 3D -- 3.3.5 Cartesian Motion in 3D -- 3.4 Application: Inertial Navigation -- 3.4.1 Gyroscopes -- 3.4.2 Accelerometers -- 3.4.3 Magnetometers -- 3.4.4 Sensor Fusion -- 3.5 Wrapping Up -- Part II Mobile Robots -- Chapter 4 Mobile Robot Vehicles -- 4.1 Wheeled Mobile Robots -- 4.1.1 Car-Like Mobile Robots -- 4.1.2 Differentially-Steered Vehicle -- 4.1.3 Omnidirectional Vehicle -- 4.2 Flying Robots -- 4.3 Advanced Topics. ; 4.3.1 Nonholonomic and Under-Actuated Systems -- 4.4 Wrapping Up -- Chapter 5 Navigation -- 5.1 Reactive Navigation -- 5.1.1 Braitenberg Vehicles -- 5.1.2 Simple Automata -- 5.2 Map-Based Planning -- 5.2.1 Distance Transform -- 5.2.2 D* -- 5.2.3 Introduction to Roadmap Methods -- 5.2.4 Probabilistic Roadmap Method (PRM) -- 5.2.5 Lattice Planner -- 5.2.6 Rapidly-Exploring Random Tree (RRT) -- 5.3 Wrapping Up -- Chapter 6 Localization -- 6.1 Dead Reckoning -- 6.1.1 Modeling the Vehicle -- 6.1.2 Estimating Pose -- 6.2 Localizing with a Map -- 6.3 Creating a Map -- 6.4 Localization and Mapping -- 6.5 Rao-Blackwellized SLAM -- 6.6 Pose Graph SLAM -- 6.7 Sequential Monte-Carlo Localization -- 6.8 Application: Scanning Laser Rangefinder -- 6.9 Wrapping Up -- Part III Arm-Type Robots -- Chapter 7 Robot Arm Kinematics -- 7.1 Forward Kinematics -- 7.1.1 2-Dimensional (Planar) Robotic Arms -- 7.1.2 3-Dimensional Robotic Arms -- 7.2 Inverse Kinematics -- 7.2.1 2-Dimensional (Planar) Robotic Arms -- 7.2.2 3-Dimensional Robotic Arms -- 7.3 Trajectories -- 7.3.1 Joint-Space Motion -- 7.3.2 Cartesian Motion -- 7.3.3 Kinematics in Simulink -- 7.3.4 Motion through a Singularity -- 7.3.5 Configuration Change -- 7.4 Advanced Topics -- 7.4.1 Joint Angle Offsets -- 7.4.2 Determining Denavit-Hartenberg Parameters -- 7.4.3 Modified Denavit-Hartenberg Parameters -- 7.5 Applications -- 7.5.1 Writing on a Surface [examples/drawing.m] -- 7.5.2 A Simple Walking Robot [examples/walking.m] -- 7.6 Wrapping Up -- Chapter 8 Manipulator Velocity -- 8.1 Manipulator Jacobian -- 8.1.1 Jacobian in the World Coordinate Frame -- 8.1.2 Jacobian in the End-Effector Coordinate Frame -- 8.1.3 Analytical Jacobian -- 8.2 Jacobian Condition and Manipulability -- 8.2.1 Jacobian Singularities -- 8.2.2 Manipulability -- 8.3 Resolved-Rate Motion Control -- 8.3.1 Jacobian Singularity. ; 8.4 Under- and Over-Actuated Manipulators -- 8.4.1 Jacobian for Under-Actuated Robot -- 8.4.2 Jacobian for Over-Actuated Robot -- 8.5 Force Relationships -- 8.5.1 Transforming Wrenches to Joint Space -- 8.5.2 Force Ellipsoids -- 8.6 Inverse Kinematics: a General Numerical Approach -- 8.6.1 Numerical Inverse Kinematics -- 8.7 Advanced Topics -- 8.7.1 Computing the Manipulator Jacobian Using Twists -- 8.8 Wrapping Up -- Chapter 9 Dynamics and Control -- 9.1 Independent Joint Control -- 9.1.1 Actuators -- 9.1.2 Friction -- 9.1.3 Effect of the Link Mass -- 9.1.4 Gearbox -- 9.1.5 Modeling the Robot Joint -- 9.1.6 Velocity Control Loop -- 9.1.7 Position Control Loop -- 9.1.8 Independent Joint Control Summary -- 9.2 Rigid-Body Equations of Motion -- 9.2.1 Gravity Term -- 9.2.2 Inertia Matrix -- 9.2.3 Coriolis Matrix -- 9.2.4 Friction -- 9.2.5 Effect of Payload -- 9.2.6 Base Force -- 9.2.7 Dynamic Manipulability -- 9.3 Forward Dynamics -- 9.4 Rigid-Body Dynamics Compensation -- 9.4.1 Feedforward Control -- 9.4.2 Computed Torque Control -- 9.4.3 Operational Space Control -- 9.5 Applications -- 9.5.1 Series-Elastic Actuator (SEA) -- 9.6 Wrapping Up -- Appendices -- Appendix A Installing the Toolbox -- Appendix B Linear Algebra Refresher -- B.1 Vectors -- B.2 Matrices -- B.2.1 Square Matrices -- B.2.2 Nonsquare and Singular Matrices -- Appendix C Geometry -- C.1 Euclidean Geometry -- C.1.1 Points -- C.1.2 Lines -- C.1.3 Planes -- C.1.4 Ellipses and Ellipsoids -- C.2 Homogeneous Coordinates -- C.2.1 Two Dimensions -- C.2.2 Three Dimensions -- Appendix D Lie Groups and Algebras -- Appendix E Linearization, Jacobians and Hessians -- Appendix F Solving Systems of Equations -- F.1 Linear Problems -- F.1.1 Nonhomogeneous Systems -- F.1.2 Homogeneous Systems -- F.2 Nonlinear Problems -- F.2.1 Finding Roots -- F.2.2 Nonlinear Minimization. ; F.2.3 Nonlinear Least Squares Minimization -- F.2.4 Sparse Nonlinear Least Squares -- Appendix G Gaussian Random Variables -- Appendix H Kalman Filter -- H.1 Linear Systems - Kalman Filter -- H.2 Nonlinear Systems - Extended Kalman Filter -- Appendix I Graphs -- Bibliography -- Index.
• Altri titoli varianti: Robotics and Control
• Titolo autorizzato: Robotics and Control
• ISBN: 3-030-79179-3
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910506379903321
• Lo trovi qui: Univ. Federico II
• Serie: Springer Tracts in Advanced Robotics Ser.