Introduction to Autonomous Manipulation

Case Study with an Underwater Robot, SAUVIM
Softcover Nachdruck of the original 1. Auflage 2014
ISBN: 978-3-662-51813-7
Verlag: Springer

Buch, Englisch, Band 102, 162 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 2818 g

Reihe: Springer Tracts in Advanced Robotics

“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.

Zielgruppe

Research

Autoren/Hrsg.

Yuh, Junku

Marani, Giacomo

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik

Inhaltsverzeichnis

Introduction.-

Geometry, kinematics and dynamics of multi-body systems.-

Kinematic control.-

The SAUVIM Underwater Vehicle-Manipulator System.-

Target localization.-

Case study.-

Mathematical supplement.