Robotics Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
Contents of Robotics Modelling, Planning and Control
- Introduction
- Robotics
- Robot Mechanical Structure
- Robot Manipulators
- Mobile Robots
- Industrial Robotics
- Advanced Robotics
- Field Robots
- Service Robots
- Robot Modelling, Planning and Control
- Modelling
- Planning
- Control
- Bibliography
- Kinematics
- Pose of a Rigid Body
- Rotation Matrix
- Elementary Rotations
- Representation of a Vector
- Rotation of a Vector
- Composition of Rotation Matrices
- Euler Angles
- ZYZ Angles
- RPY Angles
- Angle and Axis
- Unit Quaternion
- Homogeneous Transformations
- Direct Kinematics
- Open Chain
- Denavit–Hartenberg Convention
- Closed Chain
- Kinematics of Typical Manipulator Structures
- Three-link Planar Arm
- Parallelogram Arm
- Spherical Arm
- Anthropomorphic Arm
- Spherical Wrist
- Stanford Manipulator
- Anthropomorphic Arm with Spherical Wrist
- DLR Manipulator
- Humanoid Manipulator
- Joint Space and Operational Space
- Workspace
- Kinematic Redundancy
- Kinematic Calibration
- Inverse Kinematics Problem
- Solution of Three-link Planar Arm
- Solution of Manipulators with Spherical Wrist
- Solution of Spherical Arm
- Solution of Anthropomorphic Arm
- Solution of Spherical Wrist
- Bibliography
- Problems
- Differential Kinematics and Statics
- Geometric Jacobian
- Derivative of a Rotation Matrix
- Link Velocities
- Jacobian Computation
- Jacobian of Typical Manipulator Structures
- Three-link Planar Arm
- Anthropomorphic Arm
- Stanford Manipulator
- Kinematic Singularities
- Singularity Decoupling
- Wrist Singularities
- Arm Singularities
- Analysis of Redundancy
- Inverse Differential Kinematics
- Redundant Manipulators
- Kinematic Singularities
- Analytical Jacobian
- Inverse Kinematics Algorithms
- Jacobian (Pseudo-)inverse
- Jacobian Transpose
- Orientation Error
- Second-order Algorithms
- Comparison Among Inverse Kinematics Algorithms
- Statics
- Kineto-Statics Duality
- Velocity and Force Transformation
- Closed Chain
- Manipulability Ellipsoids
- Bibliography
- Problems
- Trajectory Planning
- Path and Trajectory
- Joint Space Trajectories
- Point-to-Point Motion
- Motion Through a Sequence of Points
- Operational Space Trajectories
- Path Primitives
- Position
- Orientation
- Bibliography
- Problems
- Actuators and Sensors
- Joint Actuating System
- Transmissions
- Servomotors
- Power Amplifiers
- Power Supply
- Drives
- Electric Drives
- Hydraulic Drives
- Transmission Effects
- Position Control
- Proprioceptive Sensors
- Position Transducers
- Velocity Transducers
- Exteroceptive Sensors
- Force Sensors
- Range Sensors
- Vision Sensors
- Bibliography
- Problems
- Control Architecture
- Functional Architecture
- Programming Environment
- Teaching-by-Showing
- Robot-oriented Programming
- Hardware Architecture
- Bibliography
- Problems
- Dynamics
- Lagrange Formulation
- Computation of Kinetic Energy
- Computation of Potential Energy
- Equations of Motion
- Notable Properties of Dynamic Model
- Skew-symmetry of Matrix B˙ − C
- Linearity in the Dynamic Parameters
- Dynamic Model of Simple Manipulator Structures
- Two-link Cartesian Arm
- Two-link Planar Arm
- Parallelogram Arm
- Dynamic Parameter Identification
- Newton–Euler Formulation
- Link Accelerations
- Recursive Algorithm
- Example
- Direct Dynamics and Inverse Dynamics
- Dynamic Scaling of Trajectories
- Operational Space Dynamic Model
- Dynamic Manipulability Ellipsoid
- Bibliography
- Problems
- Motion Control
- The Control Problem
- Joint Space Control
- Decentralized Control
- Independent Joint Control
- Decentralized Feedforward Compensation
- Computed Torque Feedforward Control
- Centralized Control
- PD Control with Gravity Compensation
- Inverse Dynamics Control
- Robust Control
- Adaptive Control
- Operational Space Control
- General Schemes
- PD Control with Gravity Compensation
- Inverse Dynamics Control
- Comparison Among Various Control Schemes
- Bibliography
- Problems
- Force Control
- Manipulator Interaction with Environment
- Compliance Control
- Passive Compliance
- Active Compliance
- Impedance Control
- Force Control
- Force Control with Inner Position Loop
- Force Control with Inner Velocity Loop
- Parallel Force/Position Control
- Constrained Motion
- Rigid Environment
- Compliant Environment
- Natural and Artificial Constraints
- Analysis of Tasks
- Hybrid Force/Motion Control
- Compliant Environment
- Rigid Environment
- Bibliography
- Problems
- Visual Servoing
- Vision for Control
- Configuration of the Visual System
- Image Processing
- Image Segmentation
- Image Interpretation
- Pose Estimation
- Analytical Solution
- Interaction Matrix
- Algorithmic Solution
- Stereo Vision
- Epipolar Geometry
- Triangulation
- Absolute Orientation
- D Reconstruction from Planar Homography
- Camera Calibration
- The Visual Servoing Problem
- Position-based Visual Servoing
- PD Control with Gravity Compensation
- Resolved-velocity Control
- Image-based Visual Servoing
- PD Control with Gravity Compensation
- Resolved-velocity Control
- Comparison Among Various Control Schemes
- Hybrid Visual Servoing
- Bibliography
- Problems
- Mobile Robots
- Nonholonomic Constraints
- Integrability Conditions
- Kinematic Model
- Unicycle
- Bicycle
- Chained Form
- Dynamic Model
- Planning
- Path and Timing Law
- Flat Outputs
- Path Planning
- Trajectory Planning
- Optimal Trajectories
- Motion Control
- Trajectory Tracking
- Regulation
- Odometric Localization
- Bibliography
- Problems
- Motion Planning
- The Canonical Problem
- Configuration Space
- Distance
- Obstacles
- Examples of Obstacles
- Planning via Retraction
- Planning via Cell Decomposition
- Exact Decomposition
- Approximate Decomposition
- Probabilistic Planning
- PRM Method
- Bidirectional RRT Method
- Planning via Artificial Potentials
- Attractive Potential
- Repulsive Potential
- Total Potential
- Planning Techniques
- The Local Minima Problem
- The Robot Manipulator Case
