On-line trajectory generation in robotic systems. Basic concepts for instantaneous reactions to unforeseen (sensor) events (Q1046724)

The monograph focuses on sensor integration in robotics, in particular in robotic manipulation control systems. Proposed in this book, on-line trajectory generating algorithm acts on an open-loop pose controller of an intermediate control layer that functions as one element of the important bridge between low-level robot motion control and higher-level motion planing. Thus, the proposed approach is of a very basic nature, it addresses various fields of robotics, in which sensor integration plays a fundamental role, for example, in service robotics, manipulation control systems, mobile robotics and manipulation, and a robotic surgery. The list of references consists of 283 works.