Introduction to Autonomous Manipulation
Springer Berlin (Verlag)
978-3-642-54612-9 (ISBN)
This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an
d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.lt;p>Introduction.-
Geometry, kinematics and dynamics of multi-body systems.-
Kinematic control.-
The SAUVIM Underwater Vehicle-Manipulator System.-
Target localization.-
Case study.-
Mathematical supplement.
lt;p>"The present book is devoted to autonomous manipulation systems ... . Every chapter ends with references and at the end of the book a short index is given. After reading this book the reader will be convinced that the intended audience for it consists of control scientists and control engineers as well as graduate and Ph.D. students in the area of advanced robotics." (Clementina D. Mladenova, Mathematical Reviews, August, 2015)
Erscheint lt. Verlag | 8.4.2014 |
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Reihe/Serie | Springer Tracts in Advanced Robotics |
Zusatzinfo | XVII, 162 p. 76 illus., 73 illus. in color. |
Verlagsort | Berlin |
Sprache | englisch |
Maße | 155 x 235 mm |
Gewicht | 438 g |
Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
Technik ► Elektrotechnik / Energietechnik | |
Schlagworte | Autonomous Manipulation • Underwater Robotics |
ISBN-10 | 3-642-54612-9 / 3642546129 |
ISBN-13 | 978-3-642-54612-9 / 9783642546129 |
Zustand | Neuware |
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