Until now, most of the advances in robotics have taken place in structured environments. Scientists and engineers have designed highly sophisticated robots, but most are still only able to operate and move in predetermined, planned environments designed specifically for the robots and typically at very high cost. This new book takes robotics to the next level by setting forth the theory and techniques needed to achieve robotic motion in unstructured environments. The ability to move and operate in an arbitrary, unplanned environment will lead to automating a wide range of new robotic tasks, such as patient care, toxic site cleanup, and planetary exploration.
目 錄
Preface. Acknowledgements.
1. Motion Planning—Introduction.
2. A Quick Sketch of Major Issues in Robotics.
3. Motion Planning for a Mobile Robot.
4. Accounting for Body Dynamics: The Jogger’s Problem.
5. Motion Planning for Two-Dimensional Arm Manipulators.
6. Motion Planning for Three-Dimensional Arm Manipulators.
7. Human Performance in Motion Planning.
8. Sensitive Skin—Designing an All-Sensitive Robot Arm Manipulator.
9. Suggeted Course Projects. References. Index.
