Robotics: From Manipulator to Mobilebot

Contents
Foreword by Song Jian
Foreword by Toshio Fukuda
Foreword by Volker Graefe
Preface
About the Author
List of Tables
List of Figures
1. Basic Concepts
1.1 The Origin and Development of Robotics
1.1.1 The origin of robotics
1.1.2 Development of robotics
1.2 Definition and Characteristics of Robots
1.2.1 Definition of robot
1.2.2 Main features of the robot
1.3 Composition and Classification of Robots
1.3.1 Composition of the robot system
1.3.2 Degrees of freedom of the robot
1.3.3 Classification of robots
1.4 Research Fields of Robotics
1.5 Summary of this Book
1.6 Chapter Summary
References
Part I Robot Manipulator
2. Mathematical Fundamentals
2.1 Description of Pose and Coordinate System
2.1.1 Location description
2.1.2 Orientation description
2.1.3 Pose description
2.2 Mapping of Translation and Rotation Coordinate System
2.2.1 Translation coordinate transformation
2.2.2 Rotation coordinate transformation
2.3 Homogeneous Coordinate Transformation of Translation and Rotation
2.3.1 Homogeneous transformation
2.3.2 Translation homogeneous coordinate transformation
2.3.3 Rotation homogeneous coordinate transformation
2.4 Object Transformation and Transformation Equation
2.4.1 Object location description
2.4.2 Inverse transformation of homogeneous transformation
2.4.3 Preliminary transformation equation
2.5 General Rotation Transformation
2.5.1 General rotation transformation formula
2.5.2 Equivalent rotation angle and shaft
2.6 Chapter Summary
References
3. Manipulator Kinematics
3.1 Representation of the Motion Equation of Manipulator
3.1.1 Representation of manipulator movement posture and direction angle
3.1.2 Different coordinate system representation of translation transformation
3.1.3 Generalized linkage and generalized transformation matrix
3.1.4 Steps and examples for establishing a link coordinate system
3.2 Solving Kinematical Equation of Robot Manipulator
3.2.1 General problems solved by inverse kinematics
3.2.2 Analytical solution of inverse kinematics
3.2.3 Numerical solution of inverse kinematics
3.3 Analysis and Comprehensive Examples of Manipulator Movement
3.3.1 Examples of forward kinematics of manipulator
3.3.2 Examples of inverse kinematics of the manipulator
3.4 Jacobian Formula of Manipulator
3.4.1 Differential motion of the manipulator
3.4.2 Definition and solution of Jacobian matrix
3.4.3 Example of Jacobian matrix calculation for manipulator
3.5 Chapter Summary
References
4. Manipulator Dynamics
4.1 Dynamic Equations of Rigid Bodies
4.1.1 Kinetic energy and potential energy of a rigid body
4.1.2 Lagrange equation and Newton-Euler equation
4.2 Calculation and Simplification of Manipulator Dynamic Equations
4.2.1 Calculation of particle velocity
4.2.2 Calculation of kinetic energy and potential energy of particle
4.2.3 Derivation of manipulator dynamics equation
4.2.4 Simplification of manipulator dynamics equation
4.3 Examples of Manipulator Dynamics Equations
4.3.1 The dynamic equation of the two-link manipulator
4.3.2 Velocity and acceleration equations of three-link manipulator
4.4 Chapter Summary
References
5. Manipulator Control
5.1 Overview of Manipulator Control and Transmission
5.1.1 Classification, variables and levels of manipulator control
5.1.2 Principle and transfer function of DC control system
5.1.3 Speed adjustment of DC motor
5.2 Position Control of the Manipulator
5.2.1 General structure of manipulator position control
5.2.2 Structure and model of single joint position controller
5.2.3 Coupling and compensation of multi-joint position controllers
5.3 Force and Position Hybrid Control of the Manipulator
5.3.1 Force and position hybrid control scheme
5.3.2 Synthesis of control law of force and position hybrid control system
5.4 Resolved Motion Control of Manipulator
5.4.1 Principle of resolved motion control
5.4.2 Decomposition motion speed control
5.4.3 Resolved motion acceleration control
5.4.4 Resolved motion force control
5.5 Adaptive Control of Manipulator
5.5.1 State model and structure of adaptive controller
5.5.2 Manipulator model reference adaptive controller
5.6 Intelligent Control of Manipulator
5.6.1 Overview of manipulator control based on deep learning
5.6.2 Neural control of multi-fingered dexterous manipulators
5.7 Chapter Summary
References
6. Manipulator Planning
6.1 Overview of Manipulator Planning
6.2 Robot Planning in the Block World
6.2.1 The robot problem in the block world
6.2.2 The solution of robot planning in the block world
6.3 Robot Planning System Based on Resolution Principle
6.3.1 Composition of STRIPS system
6.3.2 Planning process of STRIPS system
6.4 Robot Planning Based on Expert System
6.4.1 Structure and mechanism of the planning system
6.4.2 ROPES robot planning system
6.5 Conclusion and Discussion
6.6 Path Planning
6.6.1 The main methods and development trends of robot path planning
6.6.2 Robot path planning based on approximate VORONOI diagram
6.6.3 Robot path planning based on immune evolution and example learning
6.7 Robot Planning Based on Machine Learning
6.7.1 Overview of intelligent planning applications based on machine learning
6.7.2 Research progress of autonomous route planning for unmanned ships based on deep learning
6.8 Chapter Summary
References
Part II Mobile Robot
7. Architecture and Dynamics Model of Mobile Robot
7.1 Architecture of Mobile Robots
7.1.1 Hierarchical architecture
7.1.2 Reactive architecture
7.1.3 Deliberate/reactive composite architecture
7.2 Composition of Mobile Robot Prototype System
7.2.1 Mobile system and sensor system of mobile robot
7.2.2 Software and hardware structure of mobile robot system
7.3 Architecture of Four-layer Hierarchical Mobile Robot Navigation Control System
7.3.1 Decomposition of the control task of the navigation system
7.3.2 Four-layer modular autonomous driving control system structure
7.3.3 Structural characteristics of each layer of the driving control system
7.4 Dynamic Model of Wheeled Mobile Robot
7.4.1 Typical mechanism of wheeled mobilebot
7.4.2 Dynamic model of wheeled mobile robot under nonholonomic constraints
7.5 Stabilization and Tracking of Wheeled Mobile Robots
7.5.1 Stabilization and tracking controller design issues of wheeled mobile robots
7.5.2 Research on stabilization and tracking controller
7.6 Examples for Stabilization and Tracking Control Design
7.6.1 Tracking control law design based on backstepping
7.6.2 Trajectory generation method based on differential flatness for a wheeled mobile robot
7.7 Chapter Summary
References
8. Localization and Mapping of Mobile Robot
8.1 Introduction to Map Building of Mobile Robot
8.2 Dead Reckoning Localization
8.2.1 Proprioceptive sensor system
8.2.2 Design of dead reckoning system
8.2.3 Simulation and experiment
8.3 Map Building of Mobile Robot
8.3.1 Map building based on laser radar
8.3.2 Map matching based on maximum likelihood estimation
8.3.3 Self-localization based on feature mapping
8.3.4 Experiment
8.4 Simultaneous Localization and Mapping
8.4.1 System state
8.4.2 EKF algorithm with local maps
8.4.3 Simulation
8.5 Data Association Approach for Mobile Robot SLAM
8.5.1 Data association problem in SLAM
8.5.2 Hybrid data association approach
8.5.3 Experimental results
8.6 Mobile Robot SLAM in Dynamic Environment
8.6.1 Real-time detection of dynamic obstacle by laser radar
8.6.2 Uniform target model
8.6.3 SLAMiDE system
8.6.4 Experimental results
8.7 Chapter Summary
References
9. Mobilebot Navigation
9.1 Main Methods and Development Trends of Mobilebot Navigation
9.1.1 Navigation method based on case learning
9.1.2 Navigation method based on environment model
9.1.3 Navigation method based on behavior
9.1.4 The development trend of mobile robot navigation
9.2 Local Navigation Strategy for Mobilebot
9.2.1 Overview of local navigation methods
9.2.2 Disturbance rule design based on simulated annealing
9.2.3 Program design of local navigation
9.3 Strategies and Implements of Composite Navigation
9.3.1 Strategies of composite navigation
9.3.2 Implementation of composite navigation
9.4 Mobilebot Path Navigation Based on Ant Colony Algorithm
9.4.1 Introduction to ant colony optimization algorithm
9.4.2 Path navigation based on ant colony algorithm
9.5 Navigation Strategy Based on Feature Points
9.5.1 Feature extraction
9.5.2 Navigation behaviors based on feature points
9.5.3 Design and implementation of the navigation strategy
9.6 Mobilebot Navigation Based on Machine Learning
9.6.1 Advances in intelligent navigation based on machine learning
9.6.2 Autonomous navigation based on deep reinforcement learning for unmanned ships
9.7 Chapter Summary
References
10. Intelligent Control of Mobile Robots
10.1 Overview of Intelligent Control and Intelligent Control System
10.1.1 Introduction to intelligent control and intelligent control system
10.1.2 The basic structure of the intelligent control system
10.2 Mobile Robot Control Based on Neural Network
10.2.1 Tracking control of mobile robots
10.2.2 Navigation control and formation control of mobile robots
10.2.3 Visual control of mobile robots
10.3 Mobile Robot Control Based on Deep Learning
10.3.1 Overview of mobile robot control based on deep learning
10.3.2 Example of mobile robot control based on deep learning
10.4 Chapter Summary
References
Part III Applications and Prospect of Robotics
11. Application and Market of Robotics Technology
11.1 Application Fields of Robotics
11.1.1 Industrial robot
11.1.2 Explore robot
11.1.3 Service robot
11.1.4 Military robots
11.2 Status Quo and Forecast of Robot Market
11.3 Chapter Summary
References
12. Robotics Outlook
12.1 Development Trend of Robotics
12.2 Robot Development Plans in Various Countries
12.3 Social Problems Caused by the Application of Robots
12.4 The Challenge of Cloning Technology to Intelligent Robots
12.5 Chapter Summary
References
Index