Robotics Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo

Robotics Modelling, Planning and Control

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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
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