E Book

Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

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Introduction -- Literature Survey: Autonomous Compliant Motion -- Literature Survey: Bayesian Probability Theory -- Kalman Filters for Nonlinear Systems -- The Non-Minimal State Kalman Filter -- Contact Modelling -- Geometrical Parameter Estimation and CF Recognition -- Experiment: A Cube-In-Corner Assembly -- Task Planning with Active Sensing -- General Conclusions.This monograph focuses on how to achieve more robot autonomy by means of reliable processing skills. "Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy. Kalman filtering techniques are applied to identify the contact state based on force sensing between a grasped object and the environment. The potential of this work is to be found not only for industrial robot operation in space, sub-sea or nuclear scenarios, but also for service robots operating in unstructured environments co-habited by humans where autonomous compliant tasks require active sensing.

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Informasi Detail

Judul Seri

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No. Panggil

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Penerbit

: .,

Deskripsi Fisik

XVI, 266 p.online resource.

Bahasa

English

ISBN/ISSN

9783540315049

Klasifikasi

629.892

Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

1st ed. 2005.

Subjek

Artificial intelligence.
Control engineering.
Robotics.
Automation.
Robotics and Automation.
Mechatronics.
Control, Robotics, Mechatronics.
System theory.
Systems Theory, Control.

Info Detail Spesifik

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Pernyataan Tanggungjawab

by Tine Lefebvre, Herman Bruyninckx, Joris de Schutter.

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