PDF Free Download | 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