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Content IntroductionThis book is a practical reference for robotics and machine vision, the first part of the "Basics" (chapters 2nd and 3rd) describes the position and posture of the robot and its operating objects, as well as the representation of the path and motion of the robot; Part II "Mobile robot" (Chapters 4th to 6th) introduce their basic motion control modes and their navigation and positioning methods; the third part of "Arm Robot" (chapter 7th to 9th) introduces its kinematics, dynamics and control knowledge; Part IV, "Computer Vision" (10th to 14th) includes illumination and color, image formation and processing techniques, Image feature extraction, and stereo vision technology based on multiple images; part five, "robotics, Inspection and control" (15th and 16th) respectively, discusses the location-based and image-based visual servo and the more advanced hybrid vision servo method. This book combines robotics with machine vision knowledge, and gives examples of algorithms and procedures. The author has complete code to be downloaded to verify the knowledge points and examples in the book, and to focus on how to control the motion of the robot using visual information.about the authorPeter Corke has been working on the integration of robotics and vision for more than more than 20 years, and has achieved many outstanding results with rich practical experience.Catalogue1th Chapter Introduction
1.1 About the book
1.1.1 Matlab Software
1.1.2 Reader object and necessary knowledge
1.1.3 Symbols and conventions
1.1.4 How to use the book
1.1.5 Use this book to teach
1.1.6 Synopsis of the book
The first part of the basic knowledge
The 2nd Chapter position and Posture Description
2.1 Two-dimensional space pose description
2.2 Three-dimensional space posture Description
2.2.13-dimensional space attitude description
2.2.2 Translation and rotation combinations
2.3 Summary of this chapter
Extended Reading
Exercises
The 3rd chapter on time and movement
3.1 Trajectory
3.1.1 Smoothing one-dimensional trajectory
3.1.2 multi-dimensional situation
3.1.3 multi-segment trajectory
3.1.43-D Space Attitude interpolation
3.1.5 Descartes Movement
3.2 Time-Varying coordinate system
3.2.1 Rotation coordinate system
3. 2. 2 Incremental Movement
3.2.3 Inertial Navigation System
3.3 Summary of this chapter
Extended Reading
Exercises
Part Two mobile robot
4th Chapter Mobile Robot Carrier
4.1 Mobility
4. 2 Mobile Robot Trolley
4.2.1 Move to a point
4.2.2 Tracking a straight line
4.2.3 Trace Generic Path
4.2.4 movement to a pose
4.3 Flying robot
4.4 Summary of this chapter
Extended Reading
Exercises
The 5th Chapter robot Navigation
5.1-Reactive navigation
5.1.1 Braitenberg Car
5.1.2 Simple Automatic Machine
5.2 Map-based path planning
5.2.1 Distance Transformation
5.2.2 d*
5.2.3 Voronoi Road Map method
5.2.4 Probabilistic Road Map method
5.2.5 RRT
5.3 Summary of this chapter
Extended Reading
Exercises
The 6th Chapter robot positioning
6. 1 Trajectory estimation
6. 1. 1 Robot modeling
6.1.2 position estimation
6.2 Using the Map
6.3 Creating a Map
6.4 Positioning and mapping
6.5 Monte Carlo Positioning
6.6 Summary of this chapter
Extended Reading
Exercises
The third part arm type robot
7th Chapter Kinematics of Manipulator
7.1 Description of a robotic arm
7.2 Positive kinematics
7.2.12-Link Robot
7.2.26-Axis Robot
7.3 Inverse kinematics
7.3.1 Closed Form Solution
7.3.2 Numerical Solution
7.3.3 Under-actuated mechanical arm
7.3.4 redundant Robotic arm
7.4 Trajectory
7.4.1 Joint Space Movement
7.4.2 Descartes Movement
7.4.3 movement through singular geometry
7.4.4-bit conversion
7.5 Advanced Questions
7.5.1 Joint Angle Offset
7.5.2 Determining d-h Parameters
7.5.3 Improved D-h parameters
7.6 Application: Drawing
7.7 Application: A simple walking robot
7.7.1 kinematics
7.7.2 One Leg movement
7.7.34-Leg Movement
7.8 Summary of this chapter
Extended Reading
Exercises
8th Chapter Speed Relationship
8.1 The Jacobian matrix of the manipulator
Speed transitions between 8.1.1 coordinate systems
The Jacobian matrix of the 8.1.2 end effector coordinate system
8.1.3 Analytic Jacobian Matrix
8.1.4 conditions and maneuverability of the Jacobian
8.2 Decomposition Rate Motion control
Singularity of Jacobian matrix of 8.2.1
Jacobian matrix of 8.2.2 under-driven robot
The Jacobian matrix of 8.2.3 over-driven robots
8.3 Relationship of Forces
Conversion of force rotation between 8.3.1 coordinate systems
8.3.2 transfer of force to joint space
8.4 Inverse kinematics: A general numerical method
8.5 Summary of this chapter
Extended Reading
Exercises
The 9th Chapter Dynamics and control
9.1 Equation of motion
9.1.1 Gravity
9.1.2 Inertia Matrix
9.1.3 Coriolis Matrix
Effect of 9.1.4 payload
9.1.5 Base Force
9.1.6 Dynamic operability
9.2 Drive System
9.2.1 Friction
9.3 Forward Dynamics
9.4 Robotic Arm Joint control
9.4.1 Drive
9.4.2 Independent Joint Control
9.4.3 Rigid Body Dynamic compensation
9.4.4 Flexible Drive
9.5 Summary of this chapter
Extended Reading
Exercises
Part IV Computer Vision
10th Chapter Light and color
Spectral representation of 10.1 light
10.1.1 Absorption
10.1.2 Reflex
10.2 Colors
10.2.1 Color Reproduction
10.2.2 Chroma Space
10.2.3 Color Name
10.2.4 Other color spaces
10.2. Conversion between 52 Primary Colors
10.2.6 What is white
10.3 Advanced Topics
10.3.1 Color invariance
10.3.2 White balance
10.3.3 due to the color change of the absorption
10.3.4 Gamma
10.3.5 Applications: Color images
10.4 Summary of this chapter
Extended Reading
Exercises
11th Chapter Image Formation
11.1 Perspective Transformations
11.1.1 Lens Distortion
11.2 Camera Calibration
11.2.1 Homogeneous Transformation method
11.2.2 Decomposition Camera Calibration matrix
11.2.3 Position Estimation
11.2.4 Camera Calibration Kit
11.3 Non-perspective imaging model
11.3.1 Fish Eye Lens Camera
11.3.2 Reflective Refraction Camera
11.3.3 Spherical camera
11.4 Unified Imaging
11.4.1 mapping wide-angle images to the spherical surface
11.4.2 Synthesizing Perspective Images
11.5 Summary of this chapter
Extended Reading
Exercises
The 12th Chapter image processing
12.1 Getting images
12.1.1 images from a file
12.1.2 from camera-attached images
12.1.3 images from a movie file
12.1.4 images from the network
12.1.5 images from the code
12.2 Unary operation
12.3 Two USD operation
12.4 Space operation
12.4.1 Cross-correlation
12.4.2 Template Matching
12.4.3 Nonlinear operation
12.5 Mathematical Morphology
12.5.1 Noise Removal
12.5.2 Boundary detection
12.5.3 morphological cross-off transformation
12.6 Shape Changes
12.6.1 cropping
12.6.2 Image Scaling
12.6.3 Image Pyramid
12.6.4 Image Distortion
12.7 Summary of this chapter
Extended Reading
Exercises
The 13th Chapter Image feature Extraction
13.1 Regional characteristics
13.1.1 classification
13.1.2 Image representation
13.1.3 image description
13.1.4 Brief Review
13.2 Linear Features
13.3-point Feature
13.3.1 Classic Angular Point detector
13.3.2 Scale Space Angle detector
13.4 Summary of this chapter
Extended Reading
Exercises
The 14th chapter uses multiple images
14.1 Feature Matching
14.2 Multi-View geometry
14.2.1 Basic Matrix
14.2.2 Essence Matrix
14.2.3 Estimating the Basic matrix
14.2.4 plane single-sex
14.3 Stereoscopic Vision
14.3.1 Sparse Stereo Matching
14.3.2 Dense stereo Matching
14.3.3 Peak Refinement
14.3.4 Cleanup and refactoring
14.3.53-dimensional texture mapping display
14.3.6 Complementary Color Stereoscopic map
14.3.7 Image Correction
14.3.8 Plane Fitting
14.3.9 3D Point Set Matching
14.4 Structure and movement
14.5 Application: Perspective correction
14.6 Application: Splicing
14.7 Applications: Image matching and retrieval
14.8 Application: Image sequence Processing
14.9 Summary of this chapter
Extended Reading
Exercises
Part V Robotics, vision and control
The 15th chapter is based on visual control
15.1 Location-based visual servo
15.2 image-based visual servo
15.2.1 Camera and image motion
15.2.2 Control Feature Motion
15.2.3 depth
15.2.4 Control Performance Analysis
15.3 Using other image features
15.3.1 Linear Features
15.3.2 Circle Features
15.4 Summary of this chapter
Extended Reading
Exercises
16th. Advanced Visual Servo
16.1 xy/z Division of IBVS
16.2 Ibvs with polar coordinates
16.3 The ibvs of a spherical camera
16.4 Application: Robotic arm robot
16.5 Application: Mobile robot
16.5.1 Complete constrained mobile robot
16.5.2 nonholonomic constrained mobile robot
16.6 Application: Flying robot
16.7 Summary of this chapter
Extended Reading
Exercises
Appendix
Appendix A, Installing the Toolbox
Appendix B simulink Software
Appendix C MATLAB Objects
Appendix D Linear Algebra Review
Appendix E Ellipse
Appendix F Gaussian Random variables
Appendix G Jacobian matrices
Appendix H Kalman Filter
Appendix I homogeneous coordinate system
Appendix J Figure
Appendix K Peak Search
Terms
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Robotics, Machine vision and Control: Fundamentals of MATLAB algorithms PDF
