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Robotic Vision : Fundamental Algorithms in MATLAB®
| Robotic Vision : Fundamental Algorithms in MATLAB® |
| Autore | Corke Peter |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing AG, , 2021 |
| Descrizione fisica | 1 online resource (419 pages) |
| Collana | Springer Tracts in Advanced Robotics Ser. |
| Soggetto genere / forma | Electronic books. |
| ISBN | 3-030-79175-0 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910502592803321 |
Corke Peter
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| Cham : , : Springer International Publishing AG, , 2021 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Robotics and Control : Fundamental Algorithms in MATLAB®
| Robotics and Control : Fundamental Algorithms in MATLAB® |
| Autore | Corke Peter |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing AG, , 2021 |
| Descrizione fisica | 1 online resource (370 pages) |
| Collana | Springer Tracts in Advanced Robotics Ser. |
| Soggetto genere / forma | Electronic books. |
| ISBN | 3-030-79179-3 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| 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 |
| Record Nr. | UNINA-9910506379903321 |
|
Corke Peter
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| Cham : , : Springer International Publishing AG, , 2021 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
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Robotics, vision and control : fundamental algorithms in Python / / Peter Corke
| Robotics, vision and control : fundamental algorithms in Python / / Peter Corke |
| Autore | Corke Peter |
| Edizione | [Third edition.] |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer Nature Switzerland AG, , [2023] |
| Descrizione fisica | 1 online resource (836 pages) |
| Disciplina | 929.605 |
| Collana | Springer Tracts in Advanced Robotics Series |
| Soggetto topico |
Computer algorithms
Python (Computer program language) |
| ISBN |
9783031064692
9783031064685 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910725099603321 |
|
Corke Peter
|
||
| Cham, Switzerland : , : Springer Nature Switzerland AG, , [2023] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Robotics, Vision and Control [[electronic resource] ] : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition / / by Peter Corke
| Robotics, Vision and Control [[electronic resource] ] : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition / / by Peter Corke |
| Autore | Corke Peter |
| Edizione | [2nd ed. 2017.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2017 |
| Descrizione fisica | 1 online resource (xxix, 693 pages) |
| Disciplina | 629.892 |
| Collana | Springer Tracts in Advanced Robotics |
| Soggetto topico |
Robotics
Automation Artificial intelligence Control engineering Optical data processing Signal processing Image processing Speech processing systems Cognitive psychology Robotics and Automation Artificial Intelligence Control and Systems Theory Image Processing and Computer Vision Signal, Image and Speech Processing Cognitive Psychology |
| ISBN |
3-319-54413-6
9783319544120 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Part I Foundations -- Part II Mobile Robots -- Part III Arm-type Robots -- Part IV Vision -- Part V Robotics and Vision. |
| Record Nr. | UNINA-9910254314603321 |
|
Corke Peter
|
||
| Cham : , : Springer International Publishing : , : Imprint : Springer, , 2017 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||