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出版社：CSDN《程序员》
ISBN：1111111111117
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ROBOTICS:modelling,planning and control 评分:
这是上海交大硕士研究生机器人课程的指定教材，是非常经典的一本机器人方面的书籍。该书籍对机器人的建模、规划和控制由浅入深的做了详细讲解。内容比较全。总之，是非常好的一本书！
上传时间：2010-03 大小：9.32MB
435KBTrajectory modification considering dynamic constraints of autonomous robots.pdf
2020-07-28The classic "elastic band" deforms a path generated by a global planner with respect to the shortest path length while avoiding contact with obstacles. It does not take any dynamic constraints of the underlying robot into account directly. This contribution introduces a new approach called "timed elastic band" which explicitly considers temporal aspects of the motion in terms of dynamic constraints such as limited robot velocities and accelerations. The "timed elastic band" problem is formulated in a weighted multi-objective optimization framework. Most objectives are local as they depend on a few neighboring intermediate configurations. This results in a sparse system matrix for which efficient large-scale constrained least squares optimization methods exist. Results from simulations and experiments with a real robot demonstrate that the approach is robust and computationally efficient to generate optimal robot trajectories in real time. The "timed elastic band" converts an initial path composed of a sequence of way points into a trajectory with explicit dependence on time which enables the control of the robot in real time. Due to its modular formulation the approach is easily extended to incorporate additional objectives and constraints.
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Modern Robotics- Mechanics, Planning, and Control 现代机器人学：力学，规划与控制
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2017-10-24英文，建议在有中文译本基础上，照看。 放段书内简介：In all robot applications, completion of a ... Modelling a robot manipulator is therefore a necessary premise to finding motion control strategies.
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2011-04-13Institute of Communication Networks and Computer Engineering, University of Stuttgart, Pfaffenwaldring 47, 70569 Stuttgart, Germany Received 15 September 2006; accepted 20 November 2006 Available on...
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