On-Line Trajectory Generation in Robotic Systems Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events /

• Main Author: Kröger, Torsten (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Series: Springer Tracts in Advanced Robotics, 58
• Subjects: Engineering.; Artificial intelligence.; System theory.; Robotics.; Automation.; Robotics and Automation.; Systems Theory, Control.; Artificial Intelligence (incl. Robotics).

This monograph focuses on sensor integration in robotics, in particular in robotic manipulation control systems. We consider a mechanical system with multiple degrees of freedom equipped with one or more sensors delivering digital and/or analog sensor signals. There is no question that sensor integr...

Table of Contents:

• Literature Survey: Trajectory Generation in and Control of Robotic Systems
• Mathematical Conventions and Problem Formulation
• Solution for One Degree of Freedom
• Solution in Multi-dimensional Space
• On-Line Generation of Homothetic Trajectories
• Hybrid Switched-System Control for Robotic Systems
• Experimental Results and Applications
• Further Discussion
• Summary, Future Work, and Conclusion.