Springer Tracts in Advanced Robotics

The Task Frame Approach

By: Joris de Schutter, Johan Baeten

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Hardcover | 22 September 2003

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200 Pages

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22.86 x 15.88 x 1.27

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Sight and touch are two elementary, but highly complementary senses - for humans as well as for robots. This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on an industrial robot. The presented approach and its potential impact on the performance of the next generation of robots is starting to be recognized by major manufacturers worldwide.

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ME MAGAZINE

"This monograph develops an integrated vision/force control approach for robotics, combining the advantages of both types of sensors while overcoming their individual drawbacks. It shows how the integrated vision/force control improves the task quality in the sense of increased accuracy and execution velocity, and widens the range of feasible tasks. The unique feature of this work lies in its comprehensive treatment of the problem from the theoretical development of the various schemes down to the real-time implementation of interaction control algorithms on industrial robots."

"Modern Robotics has its foundation on this base: the analysis and design of artificial devices that suitably 'act' by 'thinking' on what they can 'sense'. ... The book by Baeten and De Schutter has the merit to be the first monograph on this topic ... . The second merit of the work is to report a large number of experimental results ... . The writing style is clear and concise, hence the contents and derivations are easy to follow." (Ciro Natale, International Journal of Robust and Nonlinear Control, Vol. 16 (7), 2006)

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You Can Find This Book In

Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Energy Technology & Engineering Electrical Engineering Computing & I.T.Computer Science Artificial Intelligence Computer Vision

Technology in General Engineering in General Graphical & Digital Media Applications Image Processing

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Paperback

Published: 5th December 2010

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Introduction	p. 1
Literature Survey	p. 5
Framework	p. 17
Classification	p. 55
Visual Servoing: A 3D Alignment Task	p. 73
Planar Contour Following of Continuous Curves	p. 89
Planar Contour Following at Corners	p. 105
Additional Experiments	p. 115
Conclusion	p. 123
Derivations	p. 129
Contour Fitting	p. 143
Experimental Validation of Curvature Computation	p. 155
Image Processing Implementation on DSP	p. 159
Technical Documentation	p. 161
References	p. 167
Index	p. 175
Symbols	p. 177
Table of Contents provided by Blackwell. All Rights Reserved.

Springer Tracts in Advanced Robotics

The Task Frame Approach

At a Glance

Hardcover

Industry Reviews

Shipping

How to return your order

Defective items

You Can Find This Book In

Other Editions and Formats

Paperback

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