On-line trajectory generation in robotics: basic concepts for instantaneous reactions to unforeseen (sensor) events

This PhD thesis 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 integration and sensor-based control belong to the dominating domains for the future advancement of robotic systems. Although there has been much research on this objective, there is still one important question that has not been answered yet: If we consider a robot in an arbitrary state of motion, how can we calculate a trajectory, if we want the robot to react instantaneously to unforeseen sensor events? Develops a new, very self-consistent theory on on-line trajectory generation for robotic systems For the first time(!), it becomes possible to let a robot motion controller (abruptly) switch between different reference frames, or different control state spaces at unforeseen time instants Introduces a new concept, accompanied by many comprehensive examples INDICE: Literature Survey: Trajectory Generation in and Control of RoboticSystems.- Mathematical Conventions and Problem Formulation.- Solution for OneDegree 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.

• ISBN: 978-3-642-05174-6
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 250
• Fecha Publicación: 01/01/2010
• Nº Volúmenes: 1
• Idioma: Inglés