Motion Parameterization and Control: Advances and Applications

List of figures

List of tables

Chapter I. Motion parameterization using dual Lie algebras

1. Mathematical Preliminaries

1.1 Dual numbers

1.2 Dual vectors

1.3 Dual tensors

2. Rigid body motion parameterization using orthogonal dual tensors

2.1 Dual Tensor Construction using Dual Vectors Bases

2.2 Orthogonal Dual Tensors

2.3 Isomorphism between SE3 and SO3

3. Solutions to some kinematics problems

3.1 Recovering motion parameters from feature-based description of rigid

body

3.2 A different approach to solving the AX=XB sensor calibration problem

Chapter II. Perception and control using vision based techniques

4. Disparity based perception of 3D environments

4.1 Obstacle detection

4.2 Ground geometry assessment

5. Advanced visual based control techniques

5.1 Visual predictive control

5.2 Nonlinear visual servoing sytems using image moments

5.3 VPC architecture for industrial robots

References

Autori: Adrian Burlacu, Daniel Condurache, Corneliu Lazar