Appendix D Optimization
D.1 Unconstrained Optimization
D.2 Constrained Optimization
12 Appendix E Camera Calibration E.1 The Image Plane and the Sensor Array E.2 Extrinsic Camera Parameters E.3 Intrinsic Camera Parameters E.4 Determining the Camera Parameters Note
13 Bibliography
14 Index
List of Tables
1 Chapter 3Table 3.1Table 3.2Table 3.3Table 3.4Table 3.5
2 Chapter 5Table 5.1
3 Chapter 7Table 7.1
4 Chapter 8Table 8.1
5 Chapter 13Table 13.1
6 Chapter 14Table 14.1
List of Illustrations
1 Chapter 1Figure 1.1 A six-axis industrial manipulator, the KUKA 500 FORTEC robot. (Photo courtesy o...Figure 1.2 Estimated number of industrial robots worldwide 2014–2020. The industrial robot...Figure 1.3 Example of a typical mobile robot, the Fetch series. The figure on the right sh...Figure 1.4 Symbolic representation of robot joints. Each joint allows a single degree of f...Figure 1.5 The Kinova® Gen3 Ultra lightweight arm, a 7-degree-of-freedom redundant manip...Figure 1.6 The integration of a mechanical arm, sensing, computation, user interface and t...Figure 1.7 Linear vs. rotational link motion showing that a smaller revolute joint can cov...Figure 1.8 The spherical wrist. The axes of rotation of the spherical wrist are typically ...Figure 1.9 A two-finger gripper. (Photo courtesy of Robotiq, Inc.)Figure 1.10 Anthropomorphic hand developed by Barrett Technologies. Such grippers allow for...Figure 1.11 Symbolic representation of an RRR manipulator (left), and the KUKA 500 arm (rig...Figure 1.12 Workspace of the elbow manipulator. The elbow manipulator provides a larger wor...Figure 1.13 Schematic representation of an RRP manipulator, referred to as a spherical robo...Figure 1.14 The ABB IRB910SC SCARA robot (left) and the symbolic representation showing a p...Figure 1.15 The ST Robotics R19 cylindrical robot (left) and the symbolic representation sh...Figure 1.16 The Yamaha YK-XC Cartesian robot (left) and the symbolic representation showing...Figure 1.17 The ABB IRB360 parallel robot. Parallel robots generally have higher structural...Figure 1.18 Two-link planar robot example. Each chapter of the text discusses a fundamental...Figure 1.19 Coordinate frames attached to the links of a two-link planar robot. Each coordi...Figure 1.20 A singular configuration results when the elbow is straight. In this configurat...Figure 1.21 The two-link elbow robot has two solutions to the inverse kinematics except at ...Figure 1.22 Solving for the joint angles of a two-link planar arm.Figure 1.23 Basic structure of a feedback control system. The compensator measures the erro...Figure 1.24 Diagram for Problem 1–12, 1–13, and 1–14.
2 Chapter 2Figure 2.1 Two coordinate frames, a point p, and two vectors v1 and v2.Figure 2.2 Coordinate frame o1x1y1 is oriented at an angle θ with respect to ...Figure 2.3 Rotation about z0 by an angle θ.Figure 2.4 Defining the relative orientation of two frames.Figure 2.5 Coordinate frame attached to a rigid body.Figure 2.6 The block in (b) is obtained by rotating the block in (a) by π about z0.Figure 2.7 Rotating a vector about axis y0.Figure 2.8 Composition of rotations about current axes.Figure 2.9 Composition of rotations about fixed axes.Figure 2.10 Euler angle representation.Figure 2.11 Roll, pitch, and yaw angles.Figure 2.12 Rotation about an arbitrary axis.Figure 2.13 Diagram for Problem 2–37.Figure 2.14 Diagram for Problem 2–38.
3 Chapter 3Figure 3.1 Coordinate frames attached to elbow manipulator.Figure 3.2 Coordinate frames satisfying assumptions DH1 and
