Robotics, vision and control fundamental algorithms in MATLAB
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| Ausgabe: | Second, completely revised, extended and updated edition |
| Schriftenreihe: | Springer Tracts in Advanced Robotics
Volume 118 |
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| 100 | 1 | |a Corke, Peter I. |d 1959- |e Verfasser |0 (DE-588)174089309 |4 aut | |
| 245 | 1 | 0 | |a Robotics, vision and control |b fundamental algorithms in MATLAB |c Peter Corke |
| 250 | |a Second, completely revised, extended and updated edition | ||
| 264 | 1 | |a Cham |b Springer |c [2017] | |
| 300 | |a xxix, 693 Seiten |b Illustrationen, Diagramme |c 23.5 cm x 15.5 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 490 | 1 | |a Springer Tracts in Advanced Robotics |v Volume 118 | |
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| 653 | |a TJFM1 | ||
| 653 | |a Algebraic Geometry | ||
| 653 | |a Control | ||
| 653 | |a Geometric Control Theory | ||
| 653 | |a Matlab | ||
| 653 | |a Neuroscience | ||
| 653 | |a Optimal Control | ||
| 653 | |a Optimization | ||
| 653 | |a Robotics | ||
| 653 | |a Robotics Toolbox | ||
| 653 | |a Vision | ||
| 653 | |a Vision Toolbox | ||
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| 776 | 0 | 8 | |i Erscheint auch als |n Online-Ausgabe |a Corke, Peter |t Robotics, Vision and Control |d Cham : Springer International Publishing, 2017 |z 978-3-319-54413-7 |
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Datensatz im Suchindex
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| _version_ | 1820805569918795776 |
| adam_text | Contents
1 Introduction ...................................................... 1
1.1 Robots, Jobs and Ethics ............................................7
1.2 About the Book .....................................................8
1.2.1 MATLAB Software and the Toolboxes ....................... 9
1.2.2 Notation, Conventions and Organization .................. 10
1.2.3 Audience and Prerequisites ................................ 11
1.2.4 Learning with the Book .................................... 11
1.2.5 Teaching with the Book .....................................12
1.2.6 Outline ................................................... 12
Further Reading .................................................. 14
Parti Foundations ............................................... 15
2 Representing Position and Orientation............................ 17
2.1 Working in Two Dimensions (2D) ....................................22
2.1.1 Orientation in 2-Dimensions ................................23
2.1.2 Pose in 2-Dimensions .......................................26
2.2 Working in Three Dimensions (3D) ..................................31
2.2.1 Orientation in 3-Dimensions ................................32
2.2.2 Pose in 3-Dimensions .......................................46
2.3 Advanced Topics ...................................................49
2.3.1 Normalization ..............................................49
2.3.2 Understanding the Exponential Mapping ......................50
2.3.3 More About Twists ..........................................52
2.3.4 Dual Quaternions ...........................................55
2.3.5 Configuration Space ....................................... 55
2.4 Using the Toolbox .................................................56
2.5 Wrapping Up .......................................................58
Further Reading ...................................................60
Exercises .........................................................61
3 Time and Motion ...................................................63
3.1 Time-Varying Pose..................................................63
3.1.1 Derivative of Pose ........................................ 63
3.1.2 Transforming Spatial Velocities ............................64
3.1.3 Incremental Rotation .......................................66
3.1.4 Incremental Rigid-Body Motion ..............................67
3.2 Accelerating Bodies and Reference Frames ..........................68
3.2.1 Dynamics of Moving Bodies ..................................68
3.2.2 Transforming Forces and Torques ............................69
3.2.3 Inertial Reference Frame ...................................69
3.3 Creating Time-Varying Pose.........................................70
3.3.1 Smooth One-Dimensional Trajectories ........................70
xviii Contents
3.4
3.5
4
4.1
4.2
4.3
4.4
5
5.1
5.2
5.3
6
6.1
6.2
6.3
6.4
6.5
6.6
3.3.2 Multi-Dimensional Trajectories ..............................73
3.3.3 Multi-Segment Trajectories ..................................74
3.3.4 Interpolation of Orientation in 3D ..........................75
3.3.5 Cartesian Motion in 3D ......................................77
Application: Inertial Navigation.....................................79
3.4.1 Gyroscopes ..................................................79
3.4.2 Accelerometers .............................................81
3.4.3 Magnetometers ...............................................85
3.4.4 Sensor Fusion ...............................................87
Wrapping Up .........................................................90
Further Reading .....................................................90
Exercises ...........................................................91
Part II Mobile Robots...............................................93
Mobile Robot Vehicles ...............................................99
Wheeled Mobile Robots ............................................. 99
4.1.1 Car-Like Mobile Robots ......................................99
4.1.2 Differentially-Steered Vehicle ............................ 109
4.1.3 Omnidirectional Vehicle ....................................112
Flying Robots ..................................................... 114
Advanced Topics ................................................... 119
4.3.1 Nonholonomic
and Under-Actuated Systems ................................ 119
Wrapping Up ...................................................... 121
Further Reading ................................................... 122
Toolbox and MATLAB Notes .......................................... 123
Exercises ........................................................ 123
Navigation ........................................................ 125
Reactive Navigation ............................................... 126
5.1.1 Braitenberg Vehicles ...................................... 126
5.1.2 Simple Automata........................................... 128
Map-Based Planning ................................................ 130
5.2.1 Distance Transform ........................................ 130
5.2.2 D* ........................................................ 134
5.2.3 Introduction to Roadmap Methods ........................... 136
5.2.4 Probabilistic Roadmap Method (PRM) ........................ 137
5.2.5 Lattice Planner ........................................... 140
5.2.6 Rapidly-Exploring Random Tree (RRT) ........................144
Wrapping Up ........................................................146
Further Reading ....................................................147
Resources...........................................................148
MATLAB Notes .......................................................148
Exercises ..........................................................148
Localization .......................................................151
Dead Reckoning ................................................... 155
6.1.1 Modeling the Vehicle .................................155
6.1.2 Estimating Pose ............................................157
Localizing with a Map ..............................................160
Creating a Map .....................................................165
Localization and Mapping............................................167
Rao-Blackwellized SLAM .............................................169
Pose Graph SLAM ....................................................170
Contents xix
6.7 Sequential Monte-Carlo Localization .............................. 175
6.8 Application: Scanning Laser Rangefinder ............................ 178
Laser Odometry .................................................... 179
Laser-Based Map Building .......................................... 181
Laser-Based Localization........................................... 182
6.9 Wrapping Up ........................................................182
Further Reading ................................................... 183
Toolbox and MATLAB Notes ..................,.......................185
Exercises ....................................................... 185
Part ill Arm-Type Robots ........................................ 189
7 Robot Arm Kinematics ............................................... 193
7.1 Forward Kinematics ................................................ 193
7.1.1 2-Dimensional (Planar) Robotic Arms .. ................... 194
7.1.2 3-Dimensional Robotic Arms ............................... 196
7.2 Inverse Kinematics............................................... 205
7.2.1 2-Dimensional (Planar) Robotic Arms.........................205
7.2.2 3-Dimensional Robotic Arms ............................... 207
7.3 Trajectories ..................................................... 211
7.3.1 Joint-Space Motion .........................................211
7.3.2 Cartesian Motion........................................... 214
7.3.3 Kinematics in Simulink .....................................214
7.3.4 Motion through a Singularity ............................ 215
7.3.5 Configuration Change .......................................216
7.4 Advanced Topics ................................................... 217
7.4.1 Joint Angle Offsets ........................................217
7.4.2 Determining Denavit-Hartenberg Parameters ..................217
7.4.3 Modified Denavit-Hartenberg Parameters .....................218
7.5 Applications ...................................................... 220
7.5.1 Writing on a Surface ................................... 220
7.5.2 A Simple Walking Robot ................................. 221
7.6 Wrapping Up .........................................................225
Further Reading .................................................. 226
MATLAB and Toolbox Notes .......................................... 227
Exercises ........................................................ 227
8 Manipulator Velocity............................................ 229
8.1 Manipulator Jacobian ...............;.................... ...... 229
8.1.1 Jacobian in the World Coordinate Frame .....................229
8.1.2 Jacobian in the End-Effector Coordinate Frame ..............232
8.1.3 Analytical Jacobian ........................................232
8.2 Jacobian Condition and Manipulability ............................ 234
8.2.1 Jacobian Singularities .................................... 234
8.2.2 Manipulability ........................................ 235
8.3 Resolved-Rate Motion Control ........................................237
8.3.1 Jacobian Singularity .................................. 240
8.4 Under- and Over-Actuated Manipulators ............................ 240
8.4.1 Jacobian for Under-Actuated Robot...........................241
8.4.2 Jacobian for Over-Actuated Robot ....................... 242
8.5 Force Relationships ............................................. 244
8.5.1 Transforming Wrenches to Joint Space .......................244
8.5.2 Force Ellipsoids ...........................................244
8.6 Inverse Kinematics: a General Numerical Approach ................... 245
8.6.1 Numerical Inverse Kinematics ........................... 245
xx Contents
8.7 Advanced Topics ....................................................247
8.7.1 Computing the Manipulator Jacobian Using Twists ............247
8.8 Wrapping Up ........................................................247
Further Reading ...................................................248
MATLAB and Toolbox Notes ..........................................248
Exercises .........................................................248
9 Dynamics and Control ...............................................251
9.1 Independent Joint Control ..........................................251
9.1.1 Actuators ..................................................251
9.1.2 Friction ...................................................252
9.1.3 Effect of the Link Mass ....................................253
9.1.4 Gearbox ....................................................254
9.1.5 Modeling the Robot Joint ...................................255
9.1.6 Velocity Control Loop ......................................257
9.1.7 Position Control Loop ......................................261
9.1.8 Independent Joint Control Summary...........................262
9.2 Rigid-Body Equations of Motion .....................................263
9.2.1 Gravity Term ...............................................264
9.2.2 Inertia Matrix............................................ 266
9.2.3 Coriolis Matrix.............................................267
9.2.4 Friction ...................................................268
9.2.5 Effect of Payload ..........................................268
9.2.6 Base Force .................................................269
9.2.7 Dynamic Manipulability .....................................269
9.3 Forward Dynamics ...................................................271
9.4 Rigid-Body Dynamics Compensation ...................................272
9.4.1 Feedforward Control ........................................273
9.4.2 Computed Torque Control ....................................274
9.4.3 Operational Space Control...................................275
9.5 Applications .......................................................276
9.5.1 Series-Elastic Actuator (SEA) ..............................276
9.6 Wrapping Up ........................................................278
Further Reading ...................................................278
Exercises .........................................................280
Part IV Computer Vision ...........................................283
10 Light and Color ....................................................287
10.1 Spectral Representation of Light ...................................287
10.1.1 Absorption .................................................289
10.1.2 Reflectance ................................................290
10.1.3 Luminance ..................................................290
10.2 Color ..............................................................291
10.2.1 The Human Eye ..............................................292
10.2.2 Measuring Color ............................................294
10.2.3 Reproducing Colors .........................................295
10.2.4 Chromaticity Space .........................................298
10.2.5 Color Names ................................................300
10.2.6 Other Color and Chromaticity Spaces ........................301
10.2.7 Transforming between Different Primaries....................304
10.2.8 What Is White? .............................................306
10.3 Advanced Topics ....................................................306
10.3.1 Color Temperature ..........................................306
10.3.2 Color Constancy ............................................307
Contents xxi
10.3.3 White Balancing ............................................308
10.3.4 Color Change Due to Absorption ............................308
10.3.5 Dichromatic Reflectance .................................. 310
10.3.6 Gamma .................................................. 310
10.4 Application: Color Image .......................................... 312
10.4.1 Comparing Color Spaces .................................---312
10.4.2 Shadow Removal ......................’.....•................313
10.5 Wrapping Up ......................................................... 315
Further Reading ...................................................316
Data Sources ......................................................316
Exercises .......................................................... . 317
11 Image Formation ................................................. 319
11.1 Perspective Camera .................................................319
11.1.1 Perspective Projection .................................... 319
11.1.2 Modeling a Perspective Camera ............................ 322
11.1.3 Discrete Image Plane ..................................... 324
11.1.4 CameraMatrix..............................,............... 325
11.1.5 Projecting Points ................................... 327
11.1.6 Lens Distortion ............................................330
11.2 Camera Calibration ..................................................331
11.2.1 Homogeneous Transformation Approach.........................331
11.2.2 Decomposing the Camera
Calibration Matrix..........................................333
11.2.3 Pose Estimation ....................................... 334
11.2.4 Camera Calibration Toolbox ................................. . 335
11.3 Wide Field-of-View Imaging ........................................ 336
11.3.1 Fisheye Lens Camera ...................................... 337
11.3.2 Catadioptric Camera.........................................340
11.3.3 Spherical Camera ........................................... 342
11.4 Unified Imaging .....................................................344
11.4.1 Mapping Wide-Angle Images to the Sphere ....................345
11.4.2 Mapping from the Sphere to a Perspective Image .............347
11.5 Novel Cameras ...................................................... 348
11.5.1 Multi-Camera Arrays ........................................348
11.5.2 Light-Field Cameras ...................................... 348
11.6 Advanced Topics ................................................... 350
11.6.1 Projecting 3D Lines and Quadrics............................350
11.6.2 Nonperspective Cameras ................... ................ 352
11.7 Wrapping Up .................................................... 353
Further Reading and Resources ......................................354
Toolbox Notes .................................................... 355
Exercises ..................................... ...................356
12 Images and Image Processing ........................................ 359
12.1 Obtaining an Image ................................................ 359
12.1.1 Images from Files ........................................ 359
12.1.2 Images from an Attached Camera ....................... 363
12.1.3 Images from a Movie File ...................................365
12.1.4 Images from the Web ...................................... 366
12.1.5 Images from Maps.................................... 367
12.1.6 Images from Code ..................................... 367
12.2 Image Histograms ............................................. 369
12.3 Monadic Operations ............................................. 370
xxii Contents
12.4 Diadic Operations .................................................372
12.5 Spatial Operations ................................................376
12.5.1 Linear Spatial Filtering ..................................376
12.5.2 Template Matching .........................................387
12.5.3 Nonlinear Operations ......................................392
12.6 Mathematical Morphology ......................................... 393
12.6.1 Noise Removal .............................................396
12.6.2 Boundary Detection ........................................398
12.6.3 Hit or Miss Transform .....................................398
12.6.4 Distance Transform ...................................... 399
12.7 Shape Changing ....................................................401
12.7.1 Cropping ..................................................401
12.7.2 Image Resizing.............................................402
12.7.3 Image Pyramids............................................ 403
12.7.4 Image Warping .............................................404
12.8 Wrapping Up .......................................................407
Further Reading ...................................................407
Sources of Image Data .............................................409
MATLAB Notes ......................................................409
General Software Tools ............................................409
Exercises .........................................................410
13 Image Feature Extraction...........................................413
13.1 Region Features ...................................................415
13.1.1 Classification ............................................415
13.1.2 Representation............................................ 424
13.1.3 Description................................................427
13.1.4 Summary ...................................................437
13.2 Line Features......................................................438
13.2.1 Summary ...................................................443
13.3 Point Features ................................................... 443
13.3.1 Classical Corner Detectors ................................443
13.3.2 Scale-Space Corner Detectors ..............................449
13.4 Wrapping Up .......................................................454
MATLAB Notes ......................................................454
Further Reading ...................................................455
Exercises .........................................................457
14 Using Multiple Images .............................................459
14.1 Feature Correspondence ............................................460
14.2 Geometry of Multiple Views ........................................464
14.2.1 The Fundamental Matrix ....................................466
14.2.2 The Essential Matrix ......................................468
14.2.3 Estimating the Fundamental Matrix
from Real Image Data.......................................470
14.2.4 Planar Homography .........................................474
14.3 Stereo Vision .....................................................479
14.3.1 Sparse Stereo .............................................479
14.3.2 Dense Stereo Matching......................................483
14.3.3 Peak Refinement ...........................................489
14.3.4 Cleaning up and Reconstruction.............................491
14.3.5 3D Texture Mapped Display .................................494
14.3.6 Anaglyphs..................................................495
14.3.7 Image Rectification .......................................496
14.4 Bundle Adjustment .................................................497
Contents xxiii
14.5 Point Clouds .......................
14.5.1 Fitting a Plane ........
14.5.2 Matching Two Sets of Points ,
14.6 Structured Light ...................
14.7 Applications ...............
14.7.1 Perspective Correction ....
14.7.2 Mosaicing .................
14.7.3 Image Matching and Retrieval
14.7.4 Visual Odometry ...........
14.8 Wrapping Up ........................
MATLAB and Toolbox Notes ..........
Further Reading ...................
Resources..........................
Exercises ...........................
503
503
505
507
509
509
512
514
520
523
524
524
528
529
Part V Robotics, Vision and Control
15 Vision-Based Control ...............
15.1 Position-Based Visual Servoing .....
15.2 Image-Based Visual Servoing .......
15.2.1 Camera and Image Motion .
15.2.2 Controlling Feature Motion .
15.2.3 Estimating Feature Depth ..
15.2.4 Performance Issues ........
15.3 Using Other Image Features .........
15.3.1 Line Features .............
15.3.2 Circle Features ...........
15.3.3 Photometric Features ......
15.4 Wrapping Up ........................
Further Reading ...................
Exercises .........................
533
537
538
541
542
547
551
554
556
556
557
559
560
560
562
16 Advanced Visual Servoing ..
16.1 XY/Z-Partitioned IBVS
16.2 IBVS Using Polar Coordinates
16.3 IBVS for a Spherical Camera .
16.4 Applications . .. ...........
16.4.1 Arm-Type Robot ...
16.4.2 Mobile Robot ......
16.4.3 Aerial Robot.......
16.5 Wrapping Up ..........
Further Reading ...........
Resources..................
Exercises .................
565
565
568
570
572
572
573
576
578
578
579
579
Appendices .......................................................581
A Installing the Toolboxes ..........................................583
B Linear Algebra Refresher ..........................................587
C Geometry ........................................................ 595
D Lie Groups and Algebras ...........................................611
E Linearization, Jacobians and Hessians............................ 617
F Solving Systems of Equations ......................................621
G Gaussian Random Variables .........................................631
H Kalman Filter .....................................................635
I Graphs .......................................................... 641
J Peak Finding ......................................................645
xxiv Contents
Bibliography.........................................................649
Index ...............................................................663
Index of People .....................................................663
Index of Functions, Classes and Methods .............................664
General Index .......................................................669
|
| any_adam_object | 1 |
| author | Corke, Peter I. 1959- |
| author_GND | (DE-588)174089309 |
| author_facet | Corke, Peter I. 1959- |
| author_role | aut |
| author_sort | Corke, Peter I. 1959- |
| author_variant | p i c pi pic |
| building | Verbundindex |
| bvnumber | BV044401895 |
| classification_rvk | ST 308 ZQ 6250 |
| classification_tum | DAT 306f DAT 760f DAT 815f |
| ctrlnum | (OCoLC)1002265552 (DE-599)DNB1124091122 |
| dewey-full | 620 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 620 - Engineering and allied operations |
| dewey-raw | 620 |
| dewey-search | 620 |
| dewey-sort | 3620 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Second, completely revised, extended and updated edition |
| format | Book |
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| id | DE-604.BV044401895 |
| illustrated | Illustrated |
| indexdate | 2024-12-24T06:06:41Z |
| institution | BVB |
| institution_GND | (DE-588)1064344704 |
| isbn | 9783319544120 3319544128 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029803931 |
| oclc_num | 1002265552 |
| open_access_boolean | |
| owner | DE-29T DE-20 DE-739 DE-91G DE-BY-TUM DE-898 DE-BY-UBR DE-1050 |
| owner_facet | DE-29T DE-20 DE-739 DE-91G DE-BY-TUM DE-898 DE-BY-UBR DE-1050 |
| physical | xxix, 693 Seiten Illustrationen, Diagramme 23.5 cm x 15.5 cm |
| publishDate | 2017 |
| publishDateSearch | 2017 |
| publishDateSort | 2017 |
| publisher | Springer |
| record_format | marc |
| series | Springer Tracts in Advanced Robotics |
| series2 | Springer Tracts in Advanced Robotics |
| spellingShingle | Corke, Peter I. 1959- Robotics, vision and control fundamental algorithms in MATLAB Springer Tracts in Advanced Robotics Roboterarm (DE-588)4507425-2 gnd SIMULINK (DE-588)4480546-9 gnd Robotik (DE-588)4261462-4 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Visual servoing (DE-588)7719524-3 gnd Bahnplanung (DE-588)4267628-9 gnd Mobiler Roboter (DE-588)4191911-7 gnd MATLAB (DE-588)4329066-8 gnd |
| subject_GND | (DE-588)4507425-2 (DE-588)4480546-9 (DE-588)4261462-4 (DE-588)4129594-8 (DE-588)7719524-3 (DE-588)4267628-9 (DE-588)4191911-7 (DE-588)4329066-8 |
| title | Robotics, vision and control fundamental algorithms in MATLAB |
| title_auth | Robotics, vision and control fundamental algorithms in MATLAB |
| title_exact_search | Robotics, vision and control fundamental algorithms in MATLAB |
| title_full | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_fullStr | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_full_unstemmed | Robotics, vision and control fundamental algorithms in MATLAB Peter Corke |
| title_short | Robotics, vision and control |
| title_sort | robotics vision and control fundamental algorithms in matlab |
| title_sub | fundamental algorithms in MATLAB |
| topic | Roboterarm (DE-588)4507425-2 gnd SIMULINK (DE-588)4480546-9 gnd Robotik (DE-588)4261462-4 gnd Maschinelles Sehen (DE-588)4129594-8 gnd Visual servoing (DE-588)7719524-3 gnd Bahnplanung (DE-588)4267628-9 gnd Mobiler Roboter (DE-588)4191911-7 gnd MATLAB (DE-588)4329066-8 gnd |
| topic_facet | Roboterarm SIMULINK Robotik Maschinelles Sehen Visual servoing Bahnplanung Mobiler Roboter MATLAB |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=97575f9638c8455085df96a920929840&prov=M&dok_var=1&dok_ext=htm http://www.springer.com/ http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029803931&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT corkepeteri roboticsvisionandcontrolfundamentalalgorithmsinmatlab AT springerinternationalpublishing roboticsvisionandcontrolfundamentalalgorithmsinmatlab |