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On-Line Trajectory Generation in Robotic Systems

Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

  • Book
  • © 2010

Overview

Authors:
  1. Torsten Kröger

    1. Institut für Robotik und Prozessinformatik, Technische Universität Carolo-Wilhelmina zu Braunschweig, Braunschweig, Germany

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  • Develops a new, very self-consistent theory on on-line trajectory generation for robotic systems
  • For the first time(!), it becomes possible to let a robot motion controller (abruptly) switch between different reference frames, or different control state spaces at unforeseen time instants
  • Introduces a new concept, accompanied by many comprehensive examples

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 58)

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Table of contents (10 chapters)

  1. Front Matter

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  2. Introduction

    • Torsten Kröger
    Pages 1-9

  3. Literature Survey: Trajectory Generation in and Control of Robotic Systems

    • Torsten Kröger
    Pages 11-31

  4. Mathematical Conventions and Problem Formulation

    • Torsten Kröger
    Pages 33-43

  5. Solution for One Degree of Freedom

    • Torsten Kröger
    Pages 45-68

  6. Solution in Multi-dimensional Space

    • Torsten Kröger
    Pages 69-97

  7. On-Line Generation of Homothetic Trajectories

    • Torsten Kröger
    Pages 99-104

  8. Hybrid Switched-System Control for Robotic Systems

    • Torsten Kröger
    Pages 105-135

  9. Experimental Results and Applications

    • Torsten Kröger
    Pages 137-157

  10. Further Discussion

    • Torsten Kröger
    Pages 159-177

  11. Summary, Future Work, and Conclusion

    • Torsten Kröger
    Pages 179-184

  12. Back Matter

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Keywords

About this book

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Authors and Affiliations

  • Institut für Robotik und Prozessinformatik, Technische Universität Carolo-Wilhelmina zu Braunschweig, Braunschweig, Germany

    Torsten Kröger

Bibliographic Information

  • Book Title: On-Line Trajectory Generation in Robotic Systems

  • Book Subtitle: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

  • Authors: Torsten Kröger

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-642-05175-3

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2010

  • Hardcover ISBN: 978-3-642-05174-6Published: 04 February 2010

  • Softcover ISBN: 978-3-642-26229-6Published: 04 May 2012

  • eBook ISBN: 978-3-642-05175-3Published: 10 January 2010

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XVIII, 232

  • Topics: Robotics and Automation, Systems Theory, Control, Artificial Intelligence

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