Knowledge Representations for Planning Manipulation Tasks

• Main Author: Zacharias, Franziska (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2012.
• Series: Cognitive Systems Monographs, 16
• Subjects: Engineering.; User interfaces (Computer systems).; Artificial intelligence.; Computational intelligence.; Robotics.; Automation.; Robotics and Automation.; Computational Intelligence.; Artificial Intelligence (incl. Robotics).; User Interfaces and Human Computer Interaction.

In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be mach...

Table of Contents:

• Review of the Literature
• Robot performance indices
• Modeling the robot workspace
• Visualization and setup evaluation
• Application in planning.