Motion and Operation Planning of Robotic Systems Background and Prac
This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of
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Giuseppe Carbone Fernando Gomez-Barvo Editors
Motion and Operation Planning of Robotic Systems Background and Practical Approaches
Mechanisms and Machine Science Volume 29
Series editor Marco Ceccarelli, Cassino, Italy
More information about this series at http://www.springer.com/series/8779
Giuseppe Carbone Fernando Gomez-Barvo •
Editors
Motion and Operation Planning of Robotic Systems Background and Practical Approaches
123
Editors Giuseppe Carbone University of Cassino Cassino, Frosinone Italy
Fernando Gomez-Barvo Engineering School University of Huelva La Rábida, Huelva Spain
ISSN 2211-0984 ISSN 2211-0992 (electronic) Mechanisms and Machine Science ISBN 978-3-319-14704-8 ISBN 978-3-319-14705-5 (eBook) DOI 10.1007/978-3-319-14705-5 Library of Congress Control Number: 2015932073 Springer Cham Heidelberg New York Dordrecht London © Springer International Publishing Switzerland 2015 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer International Publishing AG Switzerland is part of Springer Science+Business Media (www.springer.com)
Preface
Robot motion planning and its applications have attracted the attention of the robotic community along the last decades. This book is an attempt to address this wide topic with a multidisciplinary approach. While other publications focus on describing the theoretical basis of robot motion, this work pays special attention to explain the fundamentals through real applications. Thus, it represents a perfect combination for studying this topic along with other theoretical books. Each chapter has been authored by an expert or a team of experts in a specific area spanning from the mechanics of machinery to control theory, informatics, mechatronics. Chapters have been divided into five parts. The first one aims to give a theoretical background. Then, Parts II–V discuss the main specific issues for a proper path planning of different types of robots such as robotic manipulators, wheeled robots, legg
