Mobile Robotics

Luc Jaulin

• Publisher: ISTE Press - Elsevier
• Year: 2015
• Print ISBN: 9781785480485
• eBook ISBN: 9780081004814
• Topic: Technology & Engineering
• Subtopic: Robotics
• Index: Technology & Engineering

Mobile Robotics presents the different tools and methods that enable the design of mobile robots; a discipline booming with the emergence of flying drones, underwater robots mine detectors, sailboats robots and robot vacuum cleaners.Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the actuator concepts, sensor, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for reliable localization of robots within their environment.- Illustrates simulation, corrected exercises and examples- Explores different tools and methods to enable you to design mobile robots- Features three-dimensional simulation tools as well as the theoretical explanation

1

Three-dimensional Modeling

Abstract

This chapter presents the three-dimensional (3D) modeling of a solid (non-articulated) robot. Such a modeling is used to represent an airplane, a quadcopter, a submarine and so forth. Through this modeling, we will introduce a number of fundamental concepts in robotics such as state representation, rotation matrices and Euler angles. The robots, whether mobile, manipulator or articulated, can generally be put into a state representation form:

$\left\{\begin{array}{c}\hfill \dot{\mathbf{x}}\left(t\right)=\mathbf{f}\left(\mathbf{x}\left(t\right),\mathbf{u}\left(t\right)\right)\hfill \\ \hfill \mathbf{y}\left(t\right)=\mathbf{g}\left(\mathbf{x}\left(t\right),\mathbf{u}\left(t\right)\right)\hfill \end{array}\right.$

where x is the state vector, u is the input vector and y is the vector of measurements [JAU 05]. We will call modeling the step which consists of finding a more or less accurate state representation of the robot in question. In general, constant parameters may appear in the state equations (such as the mass and moment of inertia of a body, viscosity, etc.). In such cases, an identification step might prove to be necessary. We will a...

Table of contents

• Cover image
• Title page
• Table of Contents
• Copyright
• Introduction
• 1: Three-dimensional Modeling
• 2: Feedback Linearization
• 3: Model-free Control
• 4: Guidance
• 5: Instantaneous Localization
• 6: Identification
• 7: Kalman Filter
• Bibliography
• Index