Intelligent Robotic Systems: Design, Planning, and Control

✍ Scribed by Witold Jacak

• Publisher: Kluwer Academic
• Year: 2002
• Tongue: English
• Leaves: 321
• Series: IFSR International Series in Systems Science and Systems Engineering, 14
• Edition: 2002
• Category: Library

✦ Table of Contents

Cover
Contents
1. Introduction
1.1. The Modern Industrial World: The Intelligent Robotic Workcell
1.2. How to Read this Book
2. Intelligent Robotic Systems
2.1. The Intelligent Robotic Workcell
2.2. Hierarchical Control of the Intelligent Robotic Cell
2.3. Centralization versus Autonomy of the Robotic Cell Agent
2.4. Structure and Behavior of the Intelligent Robotic System
PART I. Off-Line Planning, Programming, and Simulation of Intelligent Robotic Systems
3. Virtual Robotic Cells
3.1. Logical Model of the Robotic Cell
3.2. Geometrical Model of the Robotic Cell
3.3. Basic Methods of Computational Geometry
4. Planning of Robotic Cell Actions
4.1. Task Specification
4.2. Methods for Planning Robotic Cell Actions
4.3. Production Routes — Fundamental Plans of Action
5. Off-Line Planning of Robot Motion
5.1. Collision-Free Path Planning of Robot Manipulator
5.2. Time-Trajectory Planner
5.3. Planning for Fine Motion and Grasping
6. CAP/CAM Systems for Robotic Cell Design
6.1. Structure of the CAP/CAM System ICARS
6.2. Intelligent Robotic Cell Design with ICARS
6.3. Structure of the HyRob System and Robot Design Process
PART II. Event-Based Real-Time Control of Intelligent Robotic Systems Using Neural Networks and Fuzzy Logic
7. The Execution Level of Robotic Agent Action
7.1. Event-Based Modeling and Control of Workstation
7.2. Discrete Event-Based Model of Production Store
7.3. Event-Based Model and Control of a Robotic Agent
7.4. Neural and Fuzzy Computation-Based Intelligent Robotic Agents
8. The Coordination Level of a Multiagent Robotic System
8.1. Acceptor: Workcell State Recognizer
8.2. Centralized Robotic System Coordinator
8.3. Distributed Robotic System Coordinator
8.4. Lifelong-Learning-Based Coordinator of Real-World Robotic Systems
9. The Organization Level of a Robotic System
9.1. The Task of the Robotic System Organizer
9.2. Fuzzy Reasoning System at the Organization Level
9.3. The Rule Base and Decision Making
10. Real-Time Monitoring
10.1. Tracing the Active State of Robotic Systems
10.2. Monitoring and Prediagnosis
11. Object-Oriented Discrete-Event Simulator of Intelligent Robotic Cells
11.1. Object-Oriented Specification of Robotic Cell Simulator
11.2. Object Classes of Robotic Cell Simulator
11.3. Object-Oriented Implementation of Fuzzy Organizer
References
Index

✦ Subjects

Robotic