Control in Robotics and Automation (eBook)

Sensor Based Integration

Bijoy K. Ghosh, T. J. Tarn, Ning Xi (Autoren)

eBook Download: PDF

1999 | 1. Auflage
428 Seiten
Elsevier Science (Verlag)
978-0-08-050307-3 (ISBN)

Infos

Microcomputer technology and micromechanical design have contributed to recent rapid advances in Robotics. Particular advances have been made in sensor technology that allow robotic systems to gather data and react intelligently in flexible manufacturing systems. The analysis and recording of the data are vital to controlling the robot.
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 Approach
* Visually Guided Sensing and Control
* Multiple Sensor Fuson in Planning and Control
* System Integration and Implementation
* Practical Applications

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Microcomputer technology and micromechanical design have contributed to recent rapid advances in Robotics. Particular advances have been made in sensor technology that allow robotic systems to gather data and react "e;intelligently"e; in flexible manufacturing systems. The analysis and recording of the data are vital to controlling the robot.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 Approach- Visually Guided Sensing and Control- Multiple Sensor Fuson in Planning and Control- System Integration and Implementation- Practical Applications

Inhalt

Cover 1
Contents 6
Preface 10
Contributors 12
Section I: Introduction 14
Chapter 1. Sensor-Based Planning and Control for Robotic Systems: An Event-Based Approach 16
1.Introduction 16
2. Event-Based Planning and Control 18
3. Event-Based Motion Planning and Control for a Robot Arm 23
4. Event-Based Planning and Control for Multirobot Coordination 36
5. Implementation of Event-Based Planning and Control 55
6. Conclusions 64
References 65
Section II: Visually Guided Sensing and Control 70
Chapter 2. Observer-Based Visual Servoing 72
1. Introduction 73
2. Mathematical Formulation 75
3. Jacobians 78
4. Nonlinear Control Law 81
5. Linearized Controller 89
6. Experiments 89
7. Conclusions 100
References 101
Chapter 3. Using Active Deformable Models in Robotic Visual Servoing 104
1. Introduction 104
2. Importance of the Visual Servoing Problem 105
3. Issues 106
4. Previous Work 108
5. Proposed Approach 108
6. The Minnesota Robotic Visual Tracker 116
7. Experiments 118
8. Discussion 123
9. Future Work 124
10. Conclusions 125
References 125
Chapter 4. Visually Guided Tracking and Manipulation 128
1. Introduction 128
2. Modeling of the Tracking and Grasping System 130
3. Estimation of the Motion Field of the Reference Point 134
4. The Control Design for Tracking and Grasping 143
5. Simulation Results and Discussion 152
6. Conclusions 155
References 156
Section III: Multiple Sensor Fusion in Planning and Control 158
Chapter 5. Complementary Sensor Fusion in Robotic Manipulation 160
1. Introduction 161
2. Grasping 164
3. Tracking an Unknown Trajectory on a Surface 182
4. Conclusion 191
References 192
5. Appendix 194
Chapter 6. Feedback Control with Force and Visual Sensor Fusion 196
1. Introduction 197
2. Previous Work 199
3. Sensor Resolvability 201
4. Visual Servoing Formulation 215
5. Vision-Force Servoing 217
6. Experimental Results 220
7. Conclusion 226
References 227
Chapter 7. Sensor Referenced Impact Control in Robotics 230
1. Introduction 230
2. History and Background 231
3. Impact Dynamics 233
4. Robust Impact Control 235
5. Switching Control 239
6. Experiments 246
7. Summary 248
References 253
Suggested Readings 254
Secion IV: System Integration, Modeling, and Controller Design 256
Chapter 8. A Modular Approach To Sensor Integration 258
1. Introduction 258
2. Terminology 259
3. The Problem of Algebraic Loops 259
4. Scattering Theory 262
5. Applying Scattering Theory To Robot Modules 265
6. Computing the Jacobian Scattering Operator 268
7. Discretizing Dynamic Networks 271
8. Imposing Nonlinear Constraints Using Sensor Feedback 273
9. Implementation 277
10. Examples 277
11. Conclusions 280
References 280
Chapter 9. A Circuit-Theoretic Analysis of Robot Dynamics and Control 282
1. Introduction 282
2. Passivity of Robot Dynamics and Nonlinear Position-Dependent Circuits 284
3. Sp-Id Control 287
4. Adaptability and Learnability 288
5. Realization of Friction/Gravity-Free Robots 291
6. Generalization of Impedance Matching To Nonlinear Dynamics 292
7. Learning as Making Progress Toward Impedance Matching 294
8. Conclusion 296
References 296
Chapter 10. Sensor-Based Planning and Control in Telerobotics 298
1. Introduction 298
2. History of Teleoperations and Remote Handling 299
3. The Notion of Telerobotics 308
4. Typical Application Domain 310
5. A Robust Telerobotic Concept 313
6. Current Research in Integrated D& D Telerobotics
7. Key Remaining Challenges and Summary 320
References 321
Section V: Application 324
Chapter 11. Automated Integration of Multiple Sensors 326
1. Introduction 326
2. Background 327
3. Automated MSI System 333
4. Target Sensor Domains 343
5. Sensor Anomaly Correction 345
6. Empirical Evaluation 347
7. Validation 351
8. Summary 356
References 357
Chapter 12. Robotics with Perception and Action Nets 360
1. Introduction 361
2. Pan Architecture 362
3. Uncertainty Management 365
4. Error Monitoring and Recovery 373
5. Planetary Robotic Science Sampling 375
6. Simulation 378
7. Experimentation 386
8. Conclusion 390
References 391
Appendix 392
Chapter 13. A Fuzzy Behaviorist Approach to Sensor-Based Reasoning and Robot Navigation 394
1. Introduction 394
2. Fuzzy Behaviorist Approach and Rule Generation for Vehicle Navigation 397
3. Rule Base Generation Method and Automated System 408
4. Sample Experimental Results 410
5. Augmenting The System with Memory and Memory-Processing Behaviors 420
6. Concluding Remarks 429
References 430
Index 432

Produkt-Details

• Erscheint lt. Verlag: 9.4.1999
• Sprache: englisch
• Themenwelt: Sachbuch/Ratgeber
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• ISBN-10: 0-08-050307-1 / 0080503071
• ISBN-13: 978-0-08-050307-3 / 9780080503073