Robotics Modelling Planning and Control 1st Edition by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo 1846286417 9781846286414

Robotics Modelling Planning and Control 1st Edition by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo – Ebook PDF Instant Download/Delivery. 1846286417, 9781846286414

Full download Robotics Modelling Planning and Control 1st Edition after payment

Product details:

ISBN 10: 1846286417

ISBN 13: 9781846286414

Author: Bruno Siciliano; Lorenzo Sciavicco; Luigi Villani; Giuseppe Oriolo

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses: • the fundamentals: kinematics, statics and trajectory planning; and • the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in: • dynamics and motion control of robot manipulators; • mobile robots; • motion planning; and • interaction with the environment using exteroceptive sensory data (force and vision). Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a solutions manual (downloadable from www.springer.com/978-1-84628-641-4) containing the MATLAB® code for computer problems; this is available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.

Robotics Modelling Planning and Control 1st Table of contents:

1 Introduction

1.1 Robotics

1.2 Robot Mechanical Structure

1.2.1 Robot Manipulators

1.2.2 Mobile Robots

1.3 Industrial Robotics

1.4 Advanced Robotics

1.4.1 Field Robots

1.4.2 Service Robots

1.5 Robot Modelling, Planning and Control

1.5.1 Modelling

1.5.2 Planning

1.5.3 Control

Bibliography

Basic textbooks

Specialized books

Edited collections on the state of the art of research

Scientific journals

Series of international scientific conferences

2 Kinematics

2.1 Pose of a Rigid Body

2.2 Rotation Matrix

2.2.1 Elementary Rotations

2.2.2 Representation of a Vector

2.2.3 Rotation of a Vector

2.3 Composition of Rotation Matrices

2.4 Euler Angles

2.4.1 ZYZ Angles

2.4.2 RPY Angles

2.5 Angle and Axis

2.6 Unit Quaternion

2.7 Homogeneous Transformations

2.8 Direct Kinematics

2.8.1 Open Chain

2.8.2 Denavit–Hartenberg Convention

2.8.3 Closed Chain

2.9 Kinematics of Typical Manipulator Structures

2.9.1 Three-link Planar Arm

2.9.2 Parallelogram Arm

2.9.3 Spherical Arm

2.9.4 Anthropomorphic Arm

2.9.5 Spherical Wrist

2.9.6 Stanford Manipulator

2.9.7 Anthropomorphic Arm with Spherical Wrist

2.9.8 DLR Manipulator

2.9.9 Humanoid Manipulator

2.10 Joint Space and Operational Space

2.10.1 Workspace

2.10.2 Kinematic Redundancy

2.11 Kinematic Calibration

2.12 Inverse Kinematics Problem

2.12.1 Solution of Three-link Planar Arm

2.12.2 Solution of Manipulators with Spherical Wrist

2.12.3 Solution of Spherical Arm

2.12.4 Solution of Anthropomorphic Arm

2.12.5 Solution of Spherical Wrist

Bibliography

Problems

3 Differential Kinematics and Statics

3.1 Geometric Jacobian

3.1.1 Derivative of a Rotation Matrix

3.1.2 Link Velocities

3.1.3 Jacobian Computation

3.2 Jacobian of Typical Manipulator Structures

3.2.1 Three-link Planar Arm

3.2.2 Anthropomorphic Arm

3.2.3 Stanford Manipulator

3.3 Kinematic Singularities

3.3.1 Singularity Decoupling

3.3.2 Wrist Singularities

3.3.3 Arm Singularities

3.4 Analysis of Redundancy

3.5 Inverse Differential Kinematics

3.5.1 Redundant Manipulators

3.5.2 Kinematic Singularities

3.6 Analytical Jacobian

3.7 Inverse Kinematics Algorithms

3.7.1 Jacobian (Pseudo-)inverse

3.7.2 Jacobian Transpose

3.7.3 Orientation Error

3.7.4 Second-order Algorithms

3.7.5 Comparison Among Inverse Kinematics Algorithms

3.8 Statics

3.8.1 Kineto-Statics Duality

3.8.2 Velocity and Force Transformation

3.8.3 Closed Chain

3.9 Manipulability Ellipsoids

Bibliography

Problems

4 Trajectory Planning

4.1 Path and Trajectory

4.2 Joint Space Trajectories

4.2.1 Point-to-Point Motion

4.2.2 Motion Through a Sequence of Points

4.3 Operational Space Trajectories

4.3.1 Path Primitives

4.3.2 Position

4.3.3 Orientation

Bibliography

Problems

5 Actuators and Sensors

5.1 Joint Actuating System

5.1.1 Transmissions

5.1.2 Servomotors

5.1.3 Power Amplifiers

5.1.4 Power Supply

5.2 Drives

5.2.1 Electric Drives

5.2.2 Hydraulic Drives

5.2.3 Transmission Effects

5.2.4 Position Control

5.3 Proprioceptive Sensors

5.3.1 Position Transducers

5.3.2 Velocity Transducers

5.4 Exteroceptive Sensors

5.4.1 Force Sensors

5.4.2 Range Sensors

5.4.3 Vision Sensors

Bibliography

Problems

6 Control Architecture

6.1 Functional Architecture

6.2 Programming Environment

6.2.1 Teaching-by-Showing

6.2.2 Robot-oriented Programming

6.3 Hardware Architecture

Bibliography

Problems

7 Dynamics

7.1 Lagrange Formulation

7.1.1 Computation of Kinetic Energy

7.1.2 Computation of Potential Energy

7.1.3 Equations of Motion

7.2 Notable Properties of Dynamic Model

7.2.1 Skew-symmetry of Matrix ˙B − 2C

7.2.2 Linearity in the Dynamic Parameters

7.3 Dynamic Model of Simple Manipulator Structures

7.3.1 Two-link Cartesian Arm

7.3.2 Two-link Planar Arm

7.3.3 Parallelogram Arm

7.4 Dynamic Parameter Identification

7.5 Newton–Euler Formulation

7.5.1 Link Accelerations

7.5.2 Recursive Algorithm

7.5.3 Example

7.6 Direct Dynamics and Inverse Dynamics

7.7 Dynamic Scaling of Trajectories

7.8 Operational Space Dynamic Model

7.9 Dynamic Manipulability Ellipsoid

Bibliography

Problems

8 Motion Control

8.1 The Control Problem

8.2 Joint Space Control

8.3 Decentralized Control

8.3.1 Independent Joint Control

8.3.2 Decentralized Feedforward Compensation

8.4 Computed Torque Feedforward Control

8.5 Centralized Control

8.5.1 PD Control with Gravity Compensation

8.5.2 Inverse Dynamics Control

8.5.3 Robust Control

8.5.4 Adaptive Control

8.6 Operational Space Control

8.6.1 General Schemes

8.6.2 PD Control with Gravity Compensation

8.6.3 Inverse Dynamics Control

8.7 Comparison Among Various Control Schemes

Bibliography

Problems

9 Force Control

9.1 Manipulator Interaction with Environment

9.2 Compliance Control

9.2.1 Passive Compliance

9.2.2 Active Compliance

9.3 Impedance Control

9.4 Force Control

9.4.1 Force Control with Inner Position Loop

9.4.2 Force Control with Inner Velocity Loop

9.4.3 Parallel Force/Position Control

9.5 Constrained Motion

9.5.1 Rigid Environment

9.5.2 Compliant Environment

9.6 Natural and Artificial Constraints

9.6.1 Analysis of Tasks

9.7 Hybrid Force/Motion Control

9.7.1 Compliant Environment

9.7.2 Rigid Environment

Bibliography

Problems

10 Visual Servoing

10.1 Vision for Control

10.1.1 Configuration of the Visual System

10.2 Image Processing

10.2.1 Image Segmentation

10.2.2 Image Interpretation

10.3 Pose Estimation

10.3.1 Analytical Solution

10.3.2 Interaction Matrix

10.3.3 Algorithmic Solution

10.4 Stereo Vision

10.4.1 Epipolar Geometry

10.4.2 Triangulation

10.4.3 Absolute Orientation

10.4.4 3D Reconstruction from Planar Homography

10.5 Camera Calibration

10.6 The Visual Servoing Problem

10.7 Position-based Visual Servoing

10.7.1 PD Control with Gravity Compensation

10.7.2 Resolved-velocity Control

10.8 Image-based Visual Servoing

10.8.1 PD Control with Gravity Compensation

10.8.2 Resolved-velocity Control

10.9 Comparison Among Various Control Schemes

10.10 Hybrid Visual Servoing

Bibliography

Problems

11 Mobile Robots

11.1 Nonholonomic Constraints

11.1.1 Integrability Conditions

11.2 Kinematic Model

11.2.1 Unicycle

11.2.2 Bicycle

11.3 Chained Form

11.4 Dynamic Model

11.5 Planning

11.5.1 Path and Timing Law

11.5.2 Flat Outputs

11.5.3 Path Planning

11.5.4 Trajectory Planning

11.5.5 Optimal Trajectories

11.6 Motion Control

11.6.1 Trajectory Tracking

11.6.2 Regulation

11.7 Odometric Localization

Bibliography

Problems

12 Motion Planning

12.1 The Canonical Problem

12.2 Configuration Space

12.2.1 Distance

12.2.2 Obstacles

12.2.3 Examples of Obstacles

12.3 Planning via Retraction

12.4 Planning via Cell Decomposition

12.4.1 Exact Decomposition

12.4.2 Approximate Decomposition

12.5 Probabilistic Planning

12.5.1 PRM Method

12.5.2 Bidirectional RRT Method

12.6 Planning via Artificial Potentials

12.6.1 Attractive Potential

12.6.2 Repulsive Potential

12.6.3 Total Potential

12.6.4 Planning Techniques

12.6.5 The Local Minima Problem

12.7 The Robot Manipulator Case

Bibliography

Problems

Appendices

A Linear Algebra

A.1 Definitions

A.2 Matrix Operations

A.3 Vector Operations

A.4 Linear Transformation

A.5 Eigenvalues and Eigenvectors

A.6 Bilinear Forms and Quadratic Forms

A.7 Pseudo-inverse

A.8 Singular Value Decomposition

Bibliography

B Rigid-body Mechanics

B.1 Kinematics

B.2 Dynamics

B.3 Work and Energy

B.4 Constrained Systems

Bibliography

C Feedback Control

C.1 Control of Single-input/Single-output Linear Systems

C.2 Control of Nonlinear Mechanical Systems

C.3 Lyapunov Direct Method

Bibliography

D Differential Geometry

D.1 Vector Fields and Lie Brackets

D.2 Nonlinear Controllability

Bibliography

E Graph Search Algorithms

E.1 Complexity

E.2 Breadth-first and Depth-first Search

E.3 A* Algorithm

People also search for Robotics Modelling Planning and Control 1st: 

robotics modelling planning and control pdf

robotics modelling planning and control

robotics modelling planning and control solution manual pdf

robotics modelling planning and control bruno siciliano pdf