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A systematic approach to learning robot programming with ROS / Wyatt S Newman
Boca Raton : CRC Press, Taylor & Francis Group, 2018
502 pages. : color illustrations ; 25 cm.
Ký hiệu phân loại (DDC): 629.8925
La 4e de couverture indique : "A Systematic Approach to Learning Robot Programming with ROS provides a comprehensive, introduction to the essential components of ROS through detailed explanations of simple code examples along with the corresponding theory of operation. The book explores the organization of ROS, how to understand ROS packages, how to use ROS tools, how to incorporate existing ROS packages into new applications, and how to develop new packages for robotics and automation. It also facilitates continuing education by preparing the reader to better understand the existing on-line documentation.
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Robot modeling and control / Mark W Spong; Mathukumalli Vidyasagar; Seth Hutchinson
Hoboken, NJ : John Wiley & Sons, Inc., 2020
xix, 583 pages : illustrations, black and white photographs ; 25 cm ; 25 cm.
Ký hiệu phân loại (DDC): 629.892
The field of robotics is rapidly expanding with renewed interest in industrial and commercial applications such as robot vacuums and space explorers. Incorporating the current state of research and development, this unique book arms readers with a broad understanding of the fundamentals. It provides them with in-depth information on such areas as velocity kinematics, path and trajectory planning, independent joint control, forced control, and vision-based control.
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Semantic 3D object maps for everyday robot manipulation / Radu Bogdan Rusu
Berlin ; New York : Springer, 2013
xviii, 225 pages. : color illustrations ; 24 cm.
Ký hiệu phân loại (DDC): 629.893
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL)
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4
Transferring human impedance regulation skills to robots / Arash Ajoudani
Cham : Springer, 2016.
xxiv, 167 pages. : illustrations ; 24 cm.
Ký hiệu phân loại (DDC): 629.892
This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
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Visual control of wheeled mobile robots : unifying vision and control in generic approaches / Héctor M Becerra; Carlos Sagüés
Cham : Springer, 2014.
xii, 118 pages. : illustrations ; 23 cm.
Ký hiệu phân loại (DDC): 629.892
Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima, and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.
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