The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.
Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations.
The theory of manipulator structures presented in the early part of the book encompasses:
• the fundamentals: kinematics, statics and trajectory planning; and
• the technology of actuators, sensors and control units.
Subsequently, more advanced instruction is given in:
• dynamics and motion control of robot manipulators;
• mobile robots;
• motion planning; and
• interaction with the environment using exteroceptive sensory data (force and vision).
Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a solutions manual (downloadable from www.springer.com/978-1-84628-641-4) containing the MATLAB® code for computer problems; this is available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.
Emphasizing "learning by doing," the authors focus on examples and applications to real-world problems, stressing concepts and minimizing technicalities. An elementary presentation of advanced concepts from the mathematical theory of optimal control is provided, giving readers the tools to solve significant and realistic problems. Proofs are also given whenever they may serve as a guide to the introduction of new concepts. This approach not only fosters an understanding of how control theory can open up modeling in areas such as the life sciences, medicine, and economics, but also guides readers from applications to new, independent research.
Key features include:
* An introduction to the main tools of MATLAB®, as well as programs that move from relatively simple ODE applications to more complex PDE models;
* Numerous applications to a wide range of subjects, including HIV and insulin treatments, population dynamics, and stock management;
* Exploration of cutting-edge topics in later chapters, such as optimal harvesting and optimal control of diffusive models, designed to stimulate further research and theses projects;
* Exercises in each chapter, allowing students a chance to work with MATLAB and achieve a better grasp of the applications;
* Minimal prerequisites: undergraduate-level calculus;
* Appendices with basic concepts and results from functional analysis and ordinary differential equations, including Runge–Kutta methods;
* Supplementary MATLAB files are available at the publisher’s website: http://www.birkhauser-science.com/978-0-8176-8097-8/.
As a guided tour to methods in optimal control and related computational methods for ODE and PDE models, An Introduction to Optimal Control Problems in Life Sciences and Economics serves as an excellent textbook for graduate and advanced undergraduate courses in mathematics, physics, engineering, computer science, biology, biotechnology, and economics. The work is also a useful reference for researchers and practitioners working with optimal control theory in these areas.
In order to solve problems in control and planning for a Robotic system it is necessary to meet the growing need for the integration of sensors in to the system. Control in Robotics and Automation addresses this need. This book covers integration planning and control based on prior knowledge and real-time sensory information. A new task-oriented approach to sensing, planning and control introduces an event-based method for system design together with task planning and three dimensional modeling in the execution of remote operations.
Typical remote systems are teleoperated and provide work efficiencies that are on the order of ten times slower than what is directly achievable by humans. Consequently, the effective integration of automation into teleoperated remote systems offers potential to improve remote system work efficiency. The authors introduce visually guided control systems and study the role of computer vision in autonomously guiding a robot system.Sensor-Based Planning and Control in an Event-Based ApproachVisually Guided Sensing and ControlMultiple Sensor Fuson in Planning and ControlSystem Integration and ImplementationPractical Applications
Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots.
Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot.
Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.
Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.