In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effectorin different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and thederived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. Inlow-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated. . Latest research on Knowledge Representations for Planning Manipulation Tasks. Presents manipulation tasks for a humanoid robot. Written by a leading expert in the field INDICE: Introduction. Review of the Literature. Robot performance indices.Modeling the robot workspace. Visualization and setup evaluation. Applicationin planning. Conclusion and Outlook.
- ISBN: 978-3-642-25181-8
- Editorial: Springer Berlin Heidelberg
- Encuadernacion: Cartoné
- Páginas: 160
- Fecha Publicación: 31/01/2012
- Nº Volúmenes: 1
- Idioma: Inglés