Intelligent Control of Robotic Systems

Intelligent Control of Robotic Systems
PDF
  • eBook:
    Intelligent Control of Robotic Systems
  • Author:
    Laxmidhar Behera, Swagat Kumar, Prem Kumar Patchaikani, Ranjith Ravindranathan Nair, Samrat Dutta
  • Edition:
    1 edition
  • Categories:
  • Data:
    April 7, 2020
  • ISBN:
    1138597716
  • ISBN-13:
    9781138597716
  • Language:
    English
  • Pages:
    674 pages
  • Format:
    PDF

Book Description
This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.

Content

1. Introduction

I - Manipulators
2. Kinematic and Dynamic Models of Robot Manipulators
3. Hand-eye Coordination of a Robotic Arm using KSOM Network
4. Model-based Visual Servoing of a 7 DOF Manipulator
5. Learning-Based Visual Servoing
6. Visual Servoing using an Adaptive Distributed Takagi-Sugeno (T-S) Fuzzy Model
7. Kinematic Control using Single Network Adaptive Critic
8. Dynamic Control using Single Network Adaptive Critic
9. Imitation Learning
10. Visual Perception
11. Vision-Based Grasping
12. Warehouse Automation: An Example

II - Mobile Robotics
13. Introduction to Mobile Robotics and Control
14. Multi-robot Formation
15. Event Triggered Multi-Robot Consensus
16. Vision-Based Tracking for a Human Following Mobile Robot

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