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Biblioteca

MARC Lista (tabellare)
Robotic vision : fundamental algorithms in MATLAB® / / Peter Corke
Robotic vision : fundamental algorithms in MATLAB® / / Peter Corke
Autore Corke Peter I. <1959->
Pubbl/distr/stampa Cham, Switzerland : , : Springer, , [2022]
Descrizione fisica 1 online resource (419 pages)
Disciplina 629.892637
Collana Springer Tracts in Advanced Robotics
Soggetto topico Robot vision
ISBN 3-030-79175-0
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
Nota di contenuto Introduction.- Part I: Foundations- Representing Position and Orientation.- Part II: Computer Vision.- Light and Color.- Images and Image Processing.- Image Feature Extraction.- Part III: The Geometry of Vision.- Image Formation.- Using Multiple Images.- Index.
Record Nr. UNINA-9910523799803321
Corke Peter I. <1959->  
Cham, Switzerland : , : Springer, , [2022]
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui
Robotics and control : fundamental algorithms in MATLAB® / / Peter Corke
Robotics and control : fundamental algorithms in MATLAB® / / Peter Corke
Autore Corke Peter I. <1959->
Pubbl/distr/stampa Cham, Switzerland : , : Springer, , [2022]
Descrizione fisica 1 online resource (370 pages)
Disciplina 629.892
Collana Springer tracts in advanced robotics
Soggetto topico Robots - Control systems
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.
Record Nr. UNINA-9910523798403321
Corke Peter I. <1959->  
Cham, Switzerland : , : Springer, , [2022]
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui
Robotics, Vision and Control : Fundamental Algorithms in MATLAB® / / by Peter Corke, Witold Jachimczyk, Remo Pillat
Robotics, Vision and Control : Fundamental Algorithms in MATLAB® / / by Peter Corke, Witold Jachimczyk, Remo Pillat
Autore Corke Peter I. <1959->
Edizione [3rd ed. 2023.]
Pubbl/distr/stampa Cham : , : Springer International Publishing : , : Imprint : Springer, , 2023
Descrizione fisica 1 online resource (833 pages)
Disciplina 929.605
629.892637
Collana Springer Tracts in Advanced Robotics
Soggetto topico Control engineering
Robotics
Automation
Artificial intelligence
Computer vision
Signal processing
Cognitive psychology
Control, Robotics, Automation
Artificial Intelligence
Control and Systems Theory
Computer Vision
Digital and Analog Signal Processing
Cognitive Psychology
ISBN 9783031072628
9783031072611
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
Nota di contenuto Introduction.-Foundations: Representing Position and Orientation -- Time and Motion -- Mobile Robotics: Mobile Robot Vehicles -- Navigation -- Localization and Mapping -- Robot Manipulators: Robot Arm Kinematics -- Manipulator Velocity -- Dynamics and Control -- Computer Vision: Light and Color -- Images and Image Processing,- Image Feature Extraction,- Image Formation -- Using Multiple Images -- Installing the Toolboxes -- Linear Algebra -- Geometry -- Lie Groups and Algebras.
Record Nr. UNINA-9910725079003321
Corke Peter I. <1959->  
Cham : , : Springer International Publishing : , : Imprint : Springer, , 2023
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui