On-Line Trajectory Generation in Robotic Systems: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events (Springer Tracts in Advanced Robotics, 58)

Title Page
Foreword
Preface
Abstract
Contents
Introduction
	Robot Motion Control
		Path Planning and Trajectory-Following Operations
		Sensor-Guided Robot Motion Control
		Verbal Problem Formulation and Motivation for This Book
		Definition: Sensor-Guarded Robot Motion Control
	Excursion: The Neurophysiological System of Human Beings
	Outline of This Book
Literature Survey: Trajectory Generation in and Control of Robotic Systems
	Terminology
	Overview
	State of the Art in Robot Technology
	State of the Art in Robotics Research
		Path Planning
		Trajectory Planning Concepts
		Robot Motion Control
		Human-Inspired Motion Analysis
		Own Works
	Conclusions and Classification of This Work
Mathematical Conventions and Problem Formulation
	Notation and Nomenclature
	Classification of On-Line Trajectory Generators
		Type Classification
		Variant Classification
	Formal Problem Formulation
	Summary
Solution for One Degree of Freedom
	Generic Algorithm for On-Line Trajectory Generation
		Problem Formulation for One-DOF Systems
		Generic Solution
	Solution for Type IV
		Type IV, Variant A
		Type IV, Variant B
	Summary and Applications
Solution in Multi-dimensional Space
	General Variant A Algorithm for On-Line Trajectory Generation
		Step 1: Calculating the Synchronization Time tisync
		Step 2: Synchronization
		Step 3: Calculation of Output Values
		Final Remarks on the General OTG Algorithm
	Extension for Variant B
	Type IV On-Line Trajectory Generation
		Type IV, Variant A
		Type IV, Variant B
	Summary and Final Remarks
On-Line Generation of Homothetic Trajectories
	Problem Formulation
	The Algorithm
Hybrid Switched-System Control for Robotic Systems
	Hybrid Switched-System Control
	The Manipulation Primitive Framework
		Manipulation Primitives as Interface to Hybrid Switched-Systems
		Control Scheme for the Execution of Manipulation Primitives
		Remarks on the Availability Flag Vector ic
		Remarks on Task Frame Switchings
		Remarks on the OTG Module
	On-Line Trajectory Generation for Open-Loop Velocity Control
	Stability
	Summary
Experimental Results and Applications
	Handling Arbitrary States of Motion
	Instantaneous Reaction to Unforeseen (Sensor) Events
	Homothetic Trajectories
	Unforeseen Switchings of Reference Coordinate Systems
	Unforeseen Switchings of State Spaces
	Hybrid Switched-System Control of a Six-DOF Industrial Manipulator
Further Discussion
	On-Line Trajectory Generation as an Interface to Non-Real-Time Systems
	Visual Servo Control
	Relation to High-Level Motion Planning Systems
	The Problem of Overshooting
	Embedding of Robot Dynamics
	Further Applications
	Migration of Existing Architectures
	Real-Time Verification
	Higher Control Rates
	Aspects on the Development of Decision Trees
	Completeness Analysis of Decision Trees
	OTG Types V–IX
	Further Variants
	On the Elegance of Natural Laws
Summary, Future Work, and Conclusion
	Summary
	Limitations and Future Work
	Conclusion
Appendix
	The Modified Anderson-Bj\\\"orck-King Method
	Details on the {\\it PosTriNegTri} Acceleration Profile (Step 1)
	Details on the {\\it PosTriZeroNegTri} Acceleration Profile (Step 2)
	Type IV On-Line Trajectory Generation in Very Simple Terms
Abbreviations and Symbols
References