Robotics, Vision and Control Fundamental Algorithms in MATLAB

Robotics, Vision and Control Fundamental Algorithms in MATLAB

PDF Free Download | Robotics, Vision and Control Fundamental Algorithms in MATLAB by Peter Corke

Contents of Robotics, Vision and Control

  • Introduction
  • About the Book
  • The MATLAB Software
  • Audience and Prerequisites
  • Notation and Conventions
  • How to Use the Book
  • Teaching with the Book
  • Outline
  • Part I. Foundations
  • Representing Position and Orientation
  • Representing Pose in -Dimensions
  • Representing Pose in -Dimensions
  • Representing Orientation in -Dimensions
  • Combining Translation and Orientation
  • Wrapping Up
  • Further Reading
  • Exercises
  • Time and Motion
  • Trajectories
  • Smooth One-Dimensional Trajectories
  • Multi-Dimensional Case
  • Multi-Segment Trajectories
  • Interpolation of Orientation in D
  • Cartesian Motion
  • Time Varying Coordinate Frames
  • Rotating Coordinate Frame
  • Incremental Motion
  • Inertial Navigation Systems
  • Wrapping Up
  • Further Reading
  • Exercises
  • Part II. Mobile Robots
  • Mobile Robot Vehicles
  • Mobility
  • Car-like Mobile Robots
  • Moving to a Point
  • Following a Line
  • Following a Path
  • Moving to a Pose
  • Flying Robots
  • Wrapping Up
  • Further Reading
  • Exercises
  • Navigation
  • Reactive Navigation
  • Braitenberg Vehicles
  • Simple Automata
  • Map-Based Planning
  • Distance Transform
  • Voronoi Roadmap Method
  • Probabilistic Roadmap Method
  • RRT
  • Wrapping Up
  • Further Reading
  • Exercises
  • Localization
  • Dead Reckoning
  • Modeling the Vehicle
  • Estimating Pose
  • Using a Map
  • Creating a Map
  • Localization and Mapping
  • Monte-Carlo Localization
  • Wrapping Up
  • Further Reading
  • Notes on Toolbox Implementation
  • Exercises
  • Part III. Arm-Type Robots
  • Robot Arm Kinematics
  • Describing a Robot Arm
  • Forward Kinematics
  • A -Link Robot
  • A -Axis Robot
  • Inverse Kinematics
  • Closed-Form Solution
  • Numerical Solution
  • Under-Actuated Manipulator
  • Redundant Manipulator
  • Trajectories
  • Joint-Space Motion
  • Cartesian Motion
  • Motion through a Singularity
  • Configuration Change
  • Advanced Topics
  • Joint Angle Offsets
  • Determining Denavit-Hartenberg Parameters
  • Modified Denavit-Hartenberg Notation
  • Application: Drawing
  • Application: a Simple Walking Robot
  • Kinematics
  • Motion of One Leg
  • Motion of Four Legs
  • Wrapping Up
  • Further Reading
  • The plot Method
  • Exercises
  • Velocity Relationships
  • Manipulator Jacobian
  • Transforming Velocities
  • between Coordinate Frames
  • Jacobian in the End-Effector Coordinate Frame
  • Analytical Jacobian
  • Jacobian Condition and Manipulability
  • Resolved-Rate Motion Control
  • Jacobian Singularity
  • Jacobian for Under-Actuated Robot
  • Jacobian for Over-Actuated Robot
  • Force Relationships
  • Transforming Wrenches between Frames
  • Transforming Wrenches to Joint Space
  • Inverse Kinematics: a General Numerical Approach
  • Wrapping Up
  • Further Reading
  • Exercises
  • Dynamics and Control
  • Equations of Motion
  • Gravity Term
  • Inertia Matrix
  • Coriolis Matrix
  • Effect of Payload
  • Base Force
  • Dynamic Manipulability
  • Drive Train
  • Friction
  • Forward Dynamics
  • Manipulator Joint Control
  • Actuators
  • Independent Joint Control
  • Rigid-Body Dynamics Compensation
  • Flexible Transmission
  • Wrapping Up
  • Further Reading
  • Exercises
  • Part IV. Computer Vision
  • Light and Color
  • Spectral Representation of Light
  • Absorption
  • Reflection
  • Color
  • Reproducing Colors
  • Chromaticity Space
  • Color Names
  • Other Color Spaces
  • Transforming between Different Primaries
  • What Is White?
  • Advanced Topics
  • Color Constancy
  • White Balancing
  • Color Change Due to Absorption
  • Gamma
  • Application: Color Image
  • Wrapping Up
  • Further Reading
  • Data Sources
  • Exercises
  • Image Formation
  • Perspective Transform
  • Lens Distortion
  • Camera Calibration
  • Homogeneous Transformation Approach
  • Decomposing the Camera Calibration Matrix
  • Pose Estimation
  • Camera Calibration Toolbox
  • Non-Perspective Imaging Models
  • Fisheye Lens Camera
  • Catadioptric Camera
  • Spherical Camera
  • Unified Imaging
  • Mapping Wide-Angle Images to the Sphere
  • Synthetic Perspective Images
  • Wrapping Up
  • Further Reading
  • Camera Classes
  • Exercises
  • Image Processing
  • Obtaining an Image
  • Images from Files
  • Images from an Attached Camera
  • Images from a Movie File
  • Images from the Web
  • Images from Code
  • Monadic Operations
  • Diadic Operations
  • Spatial Operations
  • Convolution
  • Template Matching
  • Non-Linear Operations
  • Mathematical Morphology
  • Noise Removal
  • Boundary Detection
  • Hit and Miss Transform
  • Shape Changing
  • Cropping
  • Image Resizing
  • Image Pyramids
  • Image Warping
  • Wrapping Up
  • Further Reading
  • Sources of Image Data
  • MATLAB® Software Tools
  • General Software Tools
  • Exercises
  • Image Feature Extraction
  • Region Features
  • Classification
  • Representation
  • Description
  • Recap
  • Line Features
  • Point Features
  • Classical Corner Detectors
  • Scale-Space Corner Detectors
  • Wrapping Up
  • Further Reading
  • Exercises
  • Using Multiple Images
  • Feature Correspondence
  • Geometry of Multiple Views
  • The Fundamental Matrix
  • The Essential Matrix
  • Estimating the Fundamental Matrix
  • Planar Homography
  • Stereo Vision
  • Sparse Stereo
  • Dense Stereo Matching
  • Peak Refinement
  • Cleaning up and Reconstruction
  • D Texture Mapped Display
  • Anaglyphs
  • Image Rectification
  • Plane Fitting
  • Matching Sets of D Points
  • Structure and Motion
  • Application: Perspective Correction
  • Application: Mosaicing
  • Application: Image Matching and Retrieval
  • Application: Image Sequence Processing
  • Wrapping Up
  • Further Reading
  • Resources
  • Exercises
  • Part V. Robotics, Vision and Control
  • Vision-Based Control
  • Position-Based Visual Servoing
  • Image-Based Visual Servoing
  • Camera and Image Motion
  • Controlling Feature Motion
  • Depth
  • Performance Issues
  • Using Other Image Features
  • Line Features
  • Circle Features
  • Wrapping Up
  • Further Reading
  • Exercises
  • Advanced Visual Servoing
  • XY/Z-Partitioned IBVS
  • IBVS Using Polar Coordinates
  • IBVS for a Spherical Camera
  • Application: Arm-Type Robot
  • Application: Mobile Robot
  • Holonomic Mobile Robot
  • Non-Holonomic Mobile Robot
  • Application: Aerial Robot
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Robotics, Vision and Control Fundamental Algorithms in MATLAB

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