On-Line Trajectory Generation in Robotic Systems

Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events

  • Torsten Kröger

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

Table of contents

  1. Front Matter
  2. Torsten Kröger
    Pages 1-9
  3. Torsten Kröger
    Pages 45-68
  4. Torsten Kröger
    Pages 69-97
  5. Torsten Kröger
    Pages 99-104
  6. Torsten Kröger
    Pages 137-157
  7. Torsten Kröger
    Pages 159-177
  8. Torsten Kröger
    Pages 179-184
  9. Back Matter

About this book

Introduction

This monograph focuses on sensor integration in robotics, in particular in robotic manipulation control systems. We consider a mechanical system with multiple degrees of freedom equipped with one or more sensors delivering digital and/or analog sensor signals. There is no question that sensor integration and sensor-based control belong to the dominating domains for the future advancement of robotic systems. Although there has been much research on this objective, there is still one important question that has not been answered yet: If we consider a robot in an arbitrary state of motion, how can we calculate a trajectory, if we want the robot to react instantaneously to unforeseen sensor events?

Keywords

Trajectory generation electrical drive control hybrid switched-systems multi-sensor integration real-time adaptive motion planning robot robot motion control robotics system

Authors and affiliations

  • Torsten Kröger
    • 1
  1. 1.Institut für Robotik und ProzessinformatikTechnische Universität Carolo-Wilhelmina zu BraunschweigBraunschweigGermany

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-05175-3
  • Copyright Information Springer-Verlag Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-05174-6
  • Online ISBN 978-3-642-05175-3
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book
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