Autonomous Robots Modeling, Path Planning, and Control
It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The new generation of robots are now being developed that can be categorized in two
- PDF / 7,800,170 Bytes
- 349 Pages / 496.894 x 774.71 pts Page_size
- 19 Downloads / 289 Views
Autonomous Robots Modeling, Path Planning, and Control
Autonomous Robots Modeling, Path Planning, and Control
Farbod Fahimi
Autonomous Robots Modeling, Path Planning, and Control
123
Farbod Fahimi Mechanical Engineering Department University of Alberta Edmonton, Alberta Canada [email protected]
ISBN: 978-0-387-09537-0 DOI 10.1007/978-0-387-09538-7
e-ISBN: 978-0-387-09538-7
Library of Congress Control Number: 2008931982 c Springer Science+Business Media, LLC 2009 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper springer.com
Dedicated to my supportive father, who sacrificed so much for his children.
Preface
Autonomous Versus Conventional Robots It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas. To extend the application of robotics, scientists had to invent several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups: redundant (and hyper-redundant) manipulators and mobile (ground, marine, and aerial) robots. These two groups of robots have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do. Engineers have taken advantage of the extra mobility of the new robots to make them work in constrained environments. The constraints can range 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 deal with a variety of constraints automatically. A robot that is equipped with those methods that make it able to automatically deal with a variety of environmental constraints while performing a desired task is called an autonomous robot.
Purpose of the Book There are many books that discuss different aspects of Robotics. However, they mostly focus on conventional robotic manipulators and at best, add a brief section to address mobile robots. Recently, the applicati
Data Loading...
