Robotics: Modelling, Planning and Control (Advanced by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe

By Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo

In keeping with the winning Modelling and keep an eye on of robotic Manipulators via Sciavicco and Siciliano (Springer, 2000), Robotics presents the elemental information at the foundations of robotics: modelling, making plans and keep watch over. it's been extended to incorporate assurance of cellular robots, visible regulate and movement making plans. quite a few difficulties is raised all through, and the right kind instruments to discover engineering-oriented strategies are brought and defined. The textual content comprises assurance of basic themes like kinematics, and trajectory making plans and comparable technological features together with actuators and sensors. To impart useful ability, examples and case experiences are rigorously labored out and interwoven throughout the textual content, with widespread hotel to simulation. additionally, end-of-chapter workouts are proposed, and the e-book is observed via an digital ideas handbook containing the MATLAB® code for laptop difficulties; this is often to be had for free to these adopting this quantity as a textbook for classes.

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Extra resources for Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)

Sample text

Another wide market segment comes from entertainment, where robots are used as toy companions for children, and life companions for the elderly, such as humanoid robots (Fig. 41) and the pet robots (Fig. 42) being developed in Japan. It is reasonable to predict that service robots will be naturally integrated into our society. Tomorrow, robots will be as pervasive and personal as today’s personal computers, or just as TV sets in the homes of 20 years ago. Robotics will then become ubiquitous, a challenge under discussion within the scientific community.

3 Control Realization of the motion specified by the control law requires the employment of actuators and sensors. The functional characteristics of the most commonly used actuators and sensors for robots are described in Chap. 5. Bibliography 33 Chapter 6 is concerned with the hardware/software architecture of a robot’s control system which is in charge of implementation of control laws as well as of interface with the operator. The trajectories generated constitute the reference inputs to the motion control system of the mechanical structure.

This description includes the following two main classes of mobile robots:1 • Wheeled mobile robots typically consist of a rigid body (base or chassis) and a system of wheels which provide motion with respect to the ground. 1 Other types of mechanical locomotion systems are not considered here. Among these, it is worth mentioning tracked locomotion, very effective on uneven terrain, and undulatory locomotion, inspired by snake gaits, which can be achieved without specific devices. There also exist types of locomotion that are not constrained to the ground, such as flying and navigation.

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