Robotic Systems - Applications, Control and Programming

This book brings together some of the latest research in robot applications, control, modeling, sensors and algorithms. Consisting of three main sections, the first section of the book has a focus on robotic surgery, rehabilitation, self-assembly, while the second section offers an insight into the area of control with discussions on exoskeleton control and robot learning among others. The third section is on vision and ultrasonic sensors which is followed by a series of chapters which include a focus on the programming of intelligent service robots and systems adaptations. PREFACE Robotic Systems – Applications, Control and Programming 1 Part 1 Applications 11 Chapter 1 Modular Robotic Approach in Surgical Applications – Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery – 13 Chapter 2 Target Point Manipulation Inside a Deformable Object 29 Chapter 3 Novel Assistive Robot for Self-Feeding 53 Chapter 4 Robot Handling FabricsTowards Sewing Using Computational Intelligence Methods 71 Chapter 5 Robotic Systems for Radiation Therapy 95 Chapter 6 Robotic Urological Surgery: State of the Art and Future Perspectives 117 Chapter 7 Reconfigurable Automation of Carton Packaging with Robotic Technology 135 Chapter 8 Autonomous Anthropomorphic Robotic System with Low-Cost Colour Sensors to Monitor Plant Growth in a Laboratory 149 Part 2 Control and Modeling 169 Chapter 9 CPG Implementations for Robot Locomotion: Analysis and Design 171 Chapter 10 Tracking Control in an Upper Arm Exoskeleton with Differential Flatness 193 Chapter 11 Real-Time Control in Robotic Systems 219 Chapter 12 Robot Learning from Demonstration Using Predictive Sequence Learning 245 Chapter 13 Biarticular Actuation of Robotic Systems 261 Chapter 14 Optimization and Synthesis of a Robot Fish Motion 281 Chapter 15 Modeling of Elastic Robot Joints with Nonlinear Damping and Hysteresis 303 Chapter 16 Gravity-Independent Locomotion: Dynamics and Position-Based Control of Robots on Asteroid Surfaces 323 Chapter 17 Kinematic and Inverse Dynamic Analysis of a C5 Joint Parallel Robot 349 Chapter 18 Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives 371 Chapter 19 Requirement Oriented Reconfiguration of Parallel Robotic Systems 397 Part 3 Vision and Sensors 421 Chapter 20 Real-Time Robotic Hand Control Using Hand Gestures 423 Chapter 21 Robotics Arm Visual Servo: Estimation of Arm–Space Kinematics Relations with Epipolar Geometry 439 Chapter 22 Design and Construction of an Ultrasonic Sensor for the Material Identification in Robotic Agents 465 Part 4 Programming and Algorithms 481 Chapter 23 Robotic Software Systems: From Code-Driven to Model-Driven Software Development 483 Chapter 24 Using Ontologies for Configuring Architectures of Industrial Robotics in Logistic Processes 513 Chapter 25 Programming of Intelligent Service Robots with the Process Model “FRIEND::Process” and Configurable Task-Knowledge 539 Chapter 26 Performance Evaluation of Fault-Tolerant Controllers in Robotic Manipulators 563 Chapter 27 An Approach to Distributed Component-Based Software for Robotics 581 Chapter 28 Sequential and Simultaneous Algorithms to Solve the Collision-Free Trajectory Planning Problem for Industrial Robots – Impact of interpolation Functions and the Characteristics of the Actuators on Robot Performance 601 Chapter 29 Methodology for System Adaptation Based on Characteristic Patterns 621