Introduction to Autonomous Manipulation: Case Study with an Underwater Robot, SAUVIM (Springer Tracts in Advanced Robotics)

Giacomo Marani, Junku Yuh

  • 出版商: Springer
  • 出版日期: 2014-04-08
  • 售價: $4,290
  • 貴賓價: 9.5$4,076
  • 語言: 英文
  • 頁數: 162
  • 裝訂: Hardcover
  • ISBN: 3642546129
  • ISBN-13: 9783642546129
  • 相關分類: Vim機器人製作 Robots
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商品描述

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics.

This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an

d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.

商品描述(中文翻譯)

「自主操作」是機器人技術中的一個挑戰。它指的是具有一個或多個機械手臂的移動機器人系統,在無結構環境中進行需要物理接觸的干預任務,並且不需要持續的人類監督。實現自主操作能力對於機器人技術來說是一個飛躍,因為目前在機器人領域,這一能力已經超越了現有技術的範疇。

本書探討了自主操作中遇到的問題的複雜性,包括機器人結構的表示和建模、運動學和動力學控制、運動學和算法的奇異性避免、動態任務優先級、工作空間優化和環境感知。自主操作的進一步發展應該能夠為上述所有問題提供強大的解決方案改進。本書對於在無結構環境中進行干預任務的感知式自主操作提供了廣泛的軌跡。在介紹了運動學和動力學建模的理論基礎以及基於任務優先級的多體系統運動學控制之後,本書專注於最先進的水下載具-機械手臂系統之一,即SAUVIM(半自主水下載具干預任務)。本書提出了目標識別和定位問題的解決方案,討論了一些重要的案例研究,並呈現了實際示例和實驗/模擬結果。本書可能激發機器人研究界進一步探討自主操作中的關鍵問題,並開發能夠對我們的社會產生深遠影響的機器人系統。