A Robotic Framework for the Mobile Manipulator: Theory and Application

✍ Scribed by Nguyen Van Toan, Phan Bui Khoi

• Publisher: CRC Press
• Year: 2023
• Tongue: English
• Leaves: 116
• Series: Chapman & Hall/CRC Artificial Intelligence and Robotics Series
• Category: Library

✦ Synopsis

By proposing and forming a mobile manipulator for modern multi-floor buildings, A Robotic Framework for the Mobile Manipulator: Theory and Application helps readers visualize an end-to-end workflow for making a robot system work in a targeted environment. From a product-oriented viewpoint, this book is considered as a bridge from theories to real products, in which robotic software modules and the robotic system integration are mainly concerned. In the end, readers will have an overview of how to build and integrate various single robotic modules to execute a list of designed tasks in the real world, as well as how to make a robot system work independently, without human interventions. With references and execution guidelines provided at the end of each chapter, the book will be a useful tool for developers and researchers looking to expand their knowledge about the robotics and the robotic software.

✦ Table of Contents

Cover
Half Title
Series Page
Title Page
Copyright Page
Contents
Preface
About the Authors
1. Introduction
Abbreviations
References
2. Task-oriented Robot System Proposal
Task-Oriented Analysis
A Robot System in Modern Multi-floor Buildings
A Framework for Changing Work Floors
Abbreviations
References
3. Robot System Analysis
Mobile Robot
Kinematics of Mobile Robot
Dynamics of Mobile Robot
Manipulator
Kinematics of Manipulator
Dynamics of Manipulator
Abbreviation
References
4. Mobile Robot Navigation
Localization and Mapping
Environmental Modeling
Path Planning
Abbreviations
References
Appendix
5. Manipulator Manipulation
Manipulator Modeling
Trajectory Planning and Control
Abbreviations
References
Appendix
6. Robot Perception
Elevator Button Detection
Button Light-up Status Checking
Elevator Door Status Checking
Human Detection
Floor Number Recognition
Abbreviations
References
Appendix
7. Robot System Integration
Robotic Decision-making System
An Execution of Robot Behaviors
Abbreviations
References
Appendix
Index