Page 454 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

INDEX

J-space monotonicity, 312 contiguous sets, 107
PPP (Cartesian) robot arm, 276 conventional projection, 295
XXP robot arms, 274
XXX robot arms, 274 D
l i -front monotonicity, 285
l i -rear monotonicity, 285 deformation retract, 305
2-Link-Arm Algorithm, 210 deformation retract theorems, 317
degrees of freedom (DOF), 18
A direct kinematics solution, 30
dynamics, 33
actuators, 18
algorithm convergence, 57 E
ANOVA, 362
arm base, 18 effect of vision, 104
arm configuration, 18 end effector, 18
arm joints range, 200 end effector, gross motion, 180
arm solution, 187 end effector, orientation, 180
arm’s minimal configuration, 180 Euler, Leonhard, 59
exhaustive search, 64
B
F
Bug1 algorithm, 84
Bug2 algorithm, 90 feedback control, 37
Bug2 path, 109 Fraenkel’s algorithm, 65
BugM1 algorithm, 101 Frenet frame, 146, 161
front contact, 229
C front shadow, 229
canonical solution, 144, 159
Cartesian (PP) robot arm, 182 G
Cartesian coordinates, 19
generalized cylinder, 277, 308
Class 1 algorithms, 77
generic path, 321
Class 2 algorithms, 77
geodesic curves in C-space, 194
collision avoidance, 48
graph searching, 61
complementary M-lines, 203
guarded motion, 40
compliant motion, 40
computational complexity, 53
configuration space (C-space), 18 H
configuration space anisotropy, 285
connectedness, uniform, 252 heuristic algorithms, 50
connectivity graph, 305, 323 hinged robot body, 15
Sensing, Intelligence, Motion, by Vladimir J. Lumelsky
Copyright  2006 John Wiley & Sons, Inc.
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