Motion And Operation Planning Of Robotic Systems

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Motion and Operation Planning of Robotic Systems

Author : Giuseppe Carbone
Publisher : Springer
ISBN 13 : 3319147056
Total Pages : 522 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis Motion and Operation Planning of Robotic Systems by : Giuseppe Carbone

Download or read book Motion and Operation Planning of Robotic Systems written by Giuseppe Carbone and published by Springer. This book was released on 2015-03-12 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.

Practical Motion Planning in Robotics

Author : Kamal Gupta
Publisher : Chichester, England ; Toronto : J. Wiley
ISBN 13 :
Total Pages : 376 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Practical Motion Planning in Robotics by : Kamal Gupta

Download or read book Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.

Robotics: Design, Kinematics and Motion Planning

Author : Maggie Ross
Publisher : Clanrye International
ISBN 13 : 9781647266769
Total Pages : 0 pages
Book Rating : 4.2/5 (667 download)

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Book Synopsis Robotics: Design, Kinematics and Motion Planning by : Maggie Ross

Download or read book Robotics: Design, Kinematics and Motion Planning written by Maggie Ross and published by Clanrye International. This book was released on 2023-09-26 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is a branch of engineering involve in the conception, design, manufacture and operation of robots. The plan or convention which is used for constructing a robot or a robotic system is known as robot design. Robot kinematics refers to the application of geometry in order to study the movement of multi-degree of freedom kinematic chains that make up the framework of robotic systems. It investigates the relationship between the connectivity and dimensions of kinematic chains. Furthermore, it studies the relation between acceleration, location and velocity of each link in the robotic system for planning and controlling movement, and for computing torques and actuator forces. Robot kinematics also includes singularity avoidance, collision avoidance, motion planning, redundancy and kinematic synthesis of robots. Motion planning refers to the process of breaking down a desired movement of the robot into discrete motions that are subject to certain movement constraints, and optimize the required movement. This book unfolds the innovative aspects of robot design, kinematics and motion planning, which will be crucial for the progress of robotics in the future. It will serve as a valuable source of reference for graduate and postgraduate students.

Autonomous Mobile Robots and Multi-Robot Systems

Author : Eugene Kagan
Publisher : John Wiley & Sons
ISBN 13 : 1119213169
Total Pages : 415 pages
Book Rating : 4.1/5 (192 download)

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Book Synopsis Autonomous Mobile Robots and Multi-Robot Systems by : Eugene Kagan

Download or read book Autonomous Mobile Robots and Multi-Robot Systems written by Eugene Kagan and published by John Wiley & Sons. This book was released on 2019-09-04 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Robot Motion Planning and Control

Author : Jean-Paul Laumond
Publisher : Springer
ISBN 13 :
Total Pages : 366 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Robot Motion Planning and Control by : Jean-Paul Laumond

Download or read book Robot Motion Planning and Control written by Jean-Paul Laumond and published by Springer. This book was released on 1998 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Content Description #Includes bibliographical references.

Robotic Systems

Author : S.G. Tzafestas
Publisher : Springer Science & Business Media
ISBN 13 : 9401125260
Total Pages : 625 pages
Book Rating : 4.4/5 (11 download)

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Book Synopsis Robotic Systems by : S.G. Tzafestas

Download or read book Robotic Systems written by S.G. Tzafestas and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is a modern interdisciplinary field that has emerged from the marriage of computerized numerical control and remote manipulation. Today's robotic systems have intelligence features, and are able to perform dexterous and intelligent human-like actions through appropriate combination of learning, perception, planning, decision making and control. This book presents advanced concepts, techniques and applications reflecting the experience of a wide group of specialists in the field. Topics include: kinematics, dynamics, path planning and tracking, control, mobile robotics, navigation, robot programming, and sophisticated applications in the manufacturing, medical, and other areas.

The Complexity of Robot Motion Planning

Author : John Canny
Publisher : MIT Press
ISBN 13 : 9780262031363
Total Pages : 220 pages
Book Rating : 4.0/5 (313 download)

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Book Synopsis The Complexity of Robot Motion Planning by : John Canny

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Mobile Robots in Rough Terrain

Author : Karl Iagnemma
Publisher : Springer Science & Business Media
ISBN 13 : 9783540219682
Total Pages : 136 pages
Book Rating : 4.2/5 (196 download)

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Book Synopsis Mobile Robots in Rough Terrain by : Karl Iagnemma

Download or read book Mobile Robots in Rough Terrain written by Karl Iagnemma and published by Springer Science & Business Media. This book was released on 2004-07-08 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.

Robot Motion and Control 2011

Author : Krzysztof Kozłowski
Publisher : Springer
ISBN 13 : 1447123433
Total Pages : 420 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Robot Motion and Control 2011 by : Krzysztof Kozłowski

Download or read book Robot Motion and Control 2011 written by Krzysztof Kozłowski and published by Springer. This book was released on 2012-01-13 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. New control algorithms for industrial robots, nonholonomic systems and legged robots. Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.

Dynamics of Tree-Type Robotic Systems

Author : Suril Vijaykumar Shah
Publisher : Springer Science & Business Media
ISBN 13 : 9400750064
Total Pages : 256 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Dynamics of Tree-Type Robotic Systems by : Suril Vijaykumar Shah

Download or read book Dynamics of Tree-Type Robotic Systems written by Suril Vijaykumar Shah and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.

Intelligent Robotic Systems

Author : Witold Jacak
Publisher : Springer Science & Business Media
ISBN 13 : 0306469677
Total Pages : 310 pages
Book Rating : 4.3/5 (64 download)

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Book Synopsis Intelligent Robotic Systems by : Witold Jacak

Download or read book Intelligent Robotic Systems written by Witold Jacak and published by Springer Science & Business Media. This book was released on 2006-04-11 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here is a comprehensive presentation of methodology for the design and synthesis of an intelligent complex robotic system, connecting formal tools from discrete system theory, artificial intelligence, neural network, and fuzzy logic. The necessary methods for solving real time action planning, coordination and control problems are described. A notable chapter presents a new approach to intelligent robotic agent control acting in a realworld environment based on a lifelong learning approach combining cognitive and reactive capabilities. Another key feature is the homogeneous description of all solutions and methods based on system theory formalism.

Robot Motion Planning

Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
ISBN 13 : 9780792391296
Total Pages : 676 pages
Book Rating : 4.3/5 (912 download)

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Book Synopsis Robot Motion Planning by : Jean-Claude Latombe

Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 1991 with total page 676 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals in robotics is the creation of autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants dome rather than how to do it. This book discusses a central problem in the development of autonomous robots. Motion planning, the central theme of this book, can be loosely defined as follows: how can a robot decide what motions to perform in order to achieve as a goal the arrangement of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its own motions.

Nonholonomic Motion Planning

Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 1461531764
Total Pages : 455 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Nonholonomic Motion Planning by : Zexiang Li

Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

Motion Planning

Author : Xj Jing
Publisher : BoD – Books on Demand
ISBN 13 : 953761901X
Total Pages : 610 pages
Book Rating : 4.5/5 (376 download)

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Book Synopsis Motion Planning by : Xj Jing

Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.

Sensing, Intelligence, Motion

Author : Vladimir J. Lumelsky
Publisher : John Wiley & Sons
ISBN 13 : 0471738190
Total Pages : 456 pages
Book Rating : 4.4/5 (717 download)

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Book Synopsis Sensing, Intelligence, Motion by : Vladimir J. Lumelsky

Download or read book Sensing, Intelligence, Motion written by Vladimir J. Lumelsky and published by John Wiley & Sons. This book was released on 2005-11-28 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: A leap forward in the field of robotics Until now, most of the advances in robotics have taken place instructured environments. Scientists and engineers have designedhighly sophisticated robots, but most are still only able tooperate and move in predetermined, planned environments designedspecifically for the robots and typically at very high cost. Thisnew book takes robotics to the next level by setting forth thetheory and techniques needed to achieve robotic motion inunstructured environments. The ability to move and operate in anarbitrary, unplanned environment will lead to automating a widerange of new robotic tasks, such as patient care, toxic sitecleanup, and planetary exploration. The approach that opens the door for robots to handle unstructuredtasks is known as Sensing-Intelligence-Motion (SIM), which drawsfrom research in topology, computational complexity, controltheory, and sensing hardware. Using SIM as an underlyingfoundation, the author's carefully structured presentation isdesigned to: * Formulate the challenges of sensor-based motion planning and thenbuild a theoretical foundation for sensor-based motion planningstrategies * Investigate promising algorithmic strategies for mobile robotsand robot arm manipulators, in both cases addressing motionplanning for the whole robot body * Compare robot performance to human performance in sensor-basedmotion planning to gain better insight into the challenges of SIMand help build synergistic human-robot teams for tele-operationtasks. It is both exciting and encouraging to discover that robotperformance decisively exceeds human performance in certain tasksrequiring spatial reasoning, even when compared to trainedoperators * Review sensing hardware that is necessary to realize the SIMparadigm Some 200 illustrations, graphic sketches, and photos are includedto clarify key issues, develop and validate motion planningapproaches, and demonstrate full systems in operation. As the first book fully devoted to robot motion planning inunstructured environments, Sensing, Intelligence, Motion is amust-read for engineers, scientists, and researchers involved inrobotics. It will help them migrate robots from highly specializedapplications in factories to widespread use in society whereautonomous robot motion is needed.

Mobile Robot: Motion Control and Path Planning

Author : Ahmad Taher Azar
Publisher : Springer Nature
ISBN 13 : 3031265645
Total Pages : 670 pages
Book Rating : 4.0/5 (312 download)

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Book Synopsis Mobile Robot: Motion Control and Path Planning by : Ahmad Taher Azar

Download or read book Mobile Robot: Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Principles of Robot Motion

Author : Howie Choset
Publisher : MIT Press
ISBN 13 : 0262033275
Total Pages : 627 pages
Book Rating : 4.2/5 (62 download)

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Book Synopsis Principles of Robot Motion by : Howie Choset

Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 627 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.