Contributions to Autonomous Mobile Systems
Autonomous mobile systems (AMS) are systems capable of some mobility and equipped with advanced sensor devices in order to flexibly respond to changing environmental situations, thus achieving some degree of autonomy. The purpose of this book is to contri
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Contributions to Autonomous Mobile Systems
Advances in Control Systems and Signal Processing Editor: Irmfried Hartmann Volume 7 Volume 1: Erhard Bühler and Dieter Franke Topics in Identification and Distributed Parameter Systems Volume 2: Hubert Hahn Higher Order Root-Locus Technique with Applications in Control System Design Bernhard Herz A Contribution about Controllability Volume 3: Günter Ludyk Time-Variant Discrete-Time Systems Volume 4: Dietmar Möller / Dobrivoje Popovic / Georg Thiele Modeling, Simulation and Parameter-Estimation of the Human Cardiovascular System Volume 5: Günter Ludyk Stability of Time-Varian Discrete-Time Systems Volume 6: Irmfried Hartmann/Werner Lange/ Rainer Poltmann Robust and Insensitive Design of Multivariable Feedback Systems - Multimodel Design Volume 7: Andreas Graffunder / Rüdiger Hantsche / Irmfried Hartmann Joeg Moebius/ Zhiyun Ren / Matthias Boldin / Lutz Vietze Contributions to Autonoumous Mobile Systems Volume 8: Richard Suchenwirth / Jun Guo / Irmfried Hartmann Georg Hincha / Manfred Krause / Zheng Zhang Optical Recognition of Chinese Characters
Andreas Graffunder Rüdiger Hantsche Irmfried Hartmann Joerg Moebius Zhiyun Ren Matthias Boldin LutzVietze
Contributions to Autonomous Mobile Systems With 65 Figures
11 vleweg
Editor: Or.-Ing. I. Hartmann Prof. fOr Regelungstechnik und Systemdynamik Technische Universität Berlin Einsteinufer 17 - EN 11 1000 Berlin 10, West Germany
All rights reserved
© Springer Fachmedien Wiesbaden 1992 Ursprünglich erschienen bei Friedr. Vieweg & Sohn Verlagsgesellschaft mbH, 1992 Softcover reprint of the hardcover I st edition 1992
No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical photocopying, recording or otherwise, without prior of permission of the copyright holder.
Printed on acid-free paper ISBN 978-3-528-06383-2 ISBN 978-3-663-06842-6 (eBook) DOI 10.1007/978-3-663-06842-6
ISSN
0724-9993
Contents
1 Introduction........................................................................................................................
1
2 Modeling and Control of Robotic Manipulators..........................................................
3
2.1 Modeling of robotic manipulators ............................................................................ 2.2 Control of robotic manipulators in joint space ...................................................... 2.3 Control of robotic manipulators in cartesian space .............................................. 2.4 Force control of robotic manipulators .................................................................... 2.5 References ...................... .............................................................................................
3 11 15 16 17
3 Estimation of Structure and Relative Motion from Stereo Image Sequences........
19 21 21 24 27 29 41 48 53 56 59 62
3.1 Introduction.............................................................................................
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