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2010 | Buch

On-Line Trajectory Generation in Robotic Systems

Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

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Über dieses Buch

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Inhaltsverzeichnis

Frontmatter
Introduction
Abstract
Sensor integration belongs—without any doubt—to one of the key technologies for the future advancement of robotic systems. This introductory chapter describes the subject of on-line trajectory generation (OTG) and its relation to (multi-)sensor integration and sensor-based control in the field of robot technology. Furthermore, it contains a brief outline of this monograph.
Torsten Kröger
Literature Survey: Trajectory Generation in and Control of Robotic Systems
Abstract
This work spans and combines a wide range of research topics. In order to classify this work within the robotics research landscape, this chapter provides a survey about all adjoining fields. Starting with a short section on terminology, the states of the art in technology as well as in robotics research are surveyed.
Torsten Kröger
Mathematical Conventions and Problem Formulation
Abstract
For a clear presentation of the required mathematics, it is necessary to introduce a certain nomenclature and to arrange some conventions that hold for the context of this monograph. Besides the introduction of these, we introduce a basic classification of different types and variants of on-line trajectory generation. Based on these first two sections in this chapter, the problem formulation in the introductory chapter is subsequently repeated in a formal way.
Torsten Kröger
Solution for One Degree of Freedom
Abstract
This work introduces both, an OTG algorithm for one-DOF systems and an OTG algorithm for systems with multiple DOFs, as they are common in the field of robotics. Also the one-DOF solution that is presented in this chapter delivers new significant advantages for servo drive control and the technology of frequency inverters. Furthermore, it simplifies the comprehension of this work, since we introduce the OTG algorithm step by step.
Torsten Kröger
Solution in Multi-dimensional Space
Abstract
The previous chapter introduced the concept of OTG for one single DOF. This chapter extends the proposed class of algorithms to the multi-dimensional case, and we will see how to fulfill the time-synchronization criterion. The OTG algorithm in multi-dimensional space consists of three basic steps; the first step is based on the methodologies introduced in Chap. 4. Finally, this concept will be suitable as a submodule in a hybrid switched-system controller for a robotic system with multiple DOFs. As in the previous chapter, we first introduce the general OTG algorithm, and subsequently, the Type IV OTG algorithm is exemplarily outlined.
Torsten Kröger
On-Line Generation of Homothetic Trajectories
Abstract
The proposed algorithm of the previous chapter constitutes the heart of this book and will be slightly extended in this chapter. Here, we consider a special case that is a very relevant one in practice: on-line generation of homothetic trajectories. These trajectories are one-dimensional straight-lines in a multidimensional space and are relevant for all straight-line motion operations in robotics. For the realization of this additional feature, the trajectories generated by the OTG algorithm not only have to be time-synchronized, but also phase-synchronized. After the problem has been formulated in the following section, an adaptation of the general OTG algorithm that copes with this new demand is presented in Sec. 6.2.
Torsten Kröger
Hybrid Switched-System Control for Robotic Systems
Abstract
Following the concept of on-line trajectory generation introduced in the last three chapters, let us now apply this concept to a robot control system. The goal of this chapter is to present a hybrid switched-control system, which enables the integration of multiple sensors and—in particular—the execution of sensor-guided and sensor-guarded robot motion commands.
Torsten Kröger
Experimental Results and Applications
Abstract
Chaps. 4–6 build the core contribution of this monograph, and Chap. 7 introduced an application case for the field of sensor-based robot motion control using on-line trajectory generation. While these four parts can be considered as formal and theoretical descriptions, we will discuss concrete experimental results in this chapter. The aim is to show how easily the OTG algorithm can be used in practice, and what new, essential possibilities of robot motion control suddenly become feasible.
Torsten Kröger
Further Discussion
Abstract
Before summarizing and concluding this book, some further marginal aspects are discussed in this chapter.
Torsten Kröger
Summary, Future Work, and Conclusion
Abstract
This final chapter gives brief summaries of each single chapter of this monograph, presents ideas for future work, and finally draws conclusions of this work.
Torsten Kröger
Backmatter
Metadaten
Titel
On-Line Trajectory Generation in Robotic Systems
verfasst von
Torsten Kröger
Copyright-Jahr
2010
Verlag
Springer Berlin Heidelberg
Electronic ISBN
978-3-642-05175-3
Print ISBN
978-3-642-05174-6
DOI
https://doi.org/10.1007/978-3-642-05175-3

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