Torsten Kröger

On-Line Trajectory Generation in Robotic Systems (eBook, PDF)

Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

• Format: PDF

Produktbeschreibung

This monograph focuses on sensor integration in robotics, in particular in robotic manipulation control systems. We consider a mechanical system with multiple degrees of freedom equipped with one or more sensors delivering digital and/or analog sensor signals. There is no question that sensor integration and sensor-based control belong to the dominating domains for the future advancement of robotic systems. Although there has been much research on this objective, there is still one important question that has not been answered yet: If we consider a robot in an arbitrary state of motion, how can we calculate a trajectory, if we want the robot to react instantaneously to unforeseen sensor events?

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Produktdetails

• Verlag: Springer Berlin Heidelberg
• Seitenzahl: 232
• Erscheinungstermin: 10. Januar 2010
• Englisch
• ISBN-13: 9783642051753
• Artikelnr.: 43885521

Inhaltsangabe

Literature Survey: Trajectory Generation in and Control of Robotic Systems.- Mathematical Conventions and Problem Formulation.- Solution for One Degree of Freedom.- Solution in Multi-dimensional Space.- On-Line Generation of Homothetic Trajectories.- Hybrid Switched-System Control for Robotic Systems.- Experimental Results and Applications.- Further Discussion.- Summary, Future Work, and Conclusion.