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Mobile robotics : principles, techniques and applications /
Robots or biological intelligent machines are characterized by open, adaptive systems which have autonomy and hierarchical structure. In recent years, more and more mobile robots have been applied in indoor transportation applications. In this book, the study of mobile robotics in life sciences is p...
| Clasificación: | Libro Electrónico |
|---|---|
| Otros Autores: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
New York :
Nova Publishers,
[2015]
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| Colección: | Robotics research and technology.
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- MOBILE ROBOTICS: PRINCIPLES, TECHNIQUES AND APPLICATIONS; MOBILE ROBOTICS: PRINCIPLES, TECHNIQUES AND APPLICATIONS; Library of Congress Cataloging-in-Publication Data; Contents; Preface; Chapter 1: Mobile Robotics for Life Science Laboratories; Abstract; 1. Introduction; 2. Robots in Life Science Laboratories; 2.1. Introduction; 2.2. Requirements for Using Mobile Robots in Life Science Laboratories; 2.2.1. Secure Indoor Navigation; 2.2.2. Collision Avoidance; 2.2.3. Precise Pick and Place; 2.2.4. Additional Requirements.
- 3. Concept and Realization of Using Mobile Robots in Life Science Laboratories3.1. Architecture of the Transportation System; 3.2. Indoor Localization and Plath Planning; 3.2.1. StarGazer-Based Localization; 3.2.2. Map Theory Based Path Planning; 3.2.3. Arm Manipulation; 3.3. Recharging Control; 4. Experiments; Acknowledgments; References; Chapter 2: Distributed Controller Design for Intelligent Mobile Robots with Embedded Petri Nets; Nagasaki Institute of Applied Science, Japan; Abstract; Introduction; Requirements for Behavioral Control of Mobile Robots.
- Discrete Event Modeling of Robotic ActionsControl and Behavior Modules for Motion Tasks; Design of Motion Tasks Based on Petri Nets; Petri Net Based Software Implementation of Behavior Modules; Conclusion; References; Chapter 3: Simulator with Hardware-in- the-Loop for Embedded Control Navigation Design of Mobile Robots; Abstract; Introduction; 1.1. Robot Dynamic Modeling; 1.2. System in State Space; 1.2.1. Equating Engine DC; Electric Motor Characteristics DC; 1.2.2. State Equations of the System; 1.2.3. Result of System State Equation; 1.3. Kinematics Modeling Robot.
- 1.3.1. Kinematics of Non-Holonomic Mobile ROBOTS1.3.2. Riding the Equation of State According to the System Characteristics; 1.3.3. Equation of State- Discrete Time; 1.3.4. Robot Linear Speed; 1.3.5. Circle of 1 Meter Radius; 1.4. System Stability with Feedback Encoder
- PI Control; 1.5. Implementation of Virtual Simulator with Feedback Encoder; 1.5.11. Viewing the Actual Trajectories Developed by Robot; 1.6. Implementation of the Trajectories with Feedback Encoder; 1.6.1. Implementation of the Trajectory Circumference; 2. Comparisons of Drills with Experimental Results.
- 2.1. Comparison of Trajectories
- With Encoder Feedback2.1.1. Path Circle; 3. Study of Case: Wheelchair Experimental Validation; 3.1. Experimental Triangulation Results; 3.2. Results Graphical Analyzer; 4. Final Considerations; References; Chapter 4: Development of an Intelligent Control Based Vehicle Following System; School of Engineering and Physics, The University of the South Pacific, Suva, Fiji; Abstract; 1. Introduction; 2. System Overview; 3. Lego Robotic Vehicles; 4. Modelling; 5. Fuzzy Controller; 5.1. Two Input Fuzzy Controller; 5.2. Single Input Fuzzy Controller.