By H BAXTER WILLIAMS
An entire and incisive survey of the tools used and outlines in their working principles.
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Additional info for Applied Instrumentation in the Process Industries, Second Edition: Volume 1: A Survey, Second Edition
7 Motion Planning Motion planning is the single unique deﬁning core of the ﬁeld of robotics—same as computation is the single unique deﬁning core of the ﬁeld of computers. Many components and disciplines contribute to producing a good robot—the same is true for a good computer—but it is motion planning that makes a robot a robot. BASIC CONCEPTS 25 There are different criteria of quality of robot paths. We may want the robot to do one or more of these: • • • • Execute a predeﬁned path. ). Plan a “reasonable” path.
Still, a great many objects that surround the robot are man-made and well known and can be preprocessed. Not so with mountain climbing—this task seems to present the extreme in unstructured environment. While the robot climber would know exactly where its goal is, its every step is unlike the step before, and every spike driven in the wall may be the last one—solely due to the lack of complete input information. A tremendous amount of sensing and appropriate intelligence would be needed to compensate for this uncertainty.
Those who have not are suggested to go through this chapter more carefully. Robotics is a multidisciplinary ﬁeld. It deals with a multiplicity of issues, and its tools relate to various disciplines, from mechanical engineering to computer science to mathematics to human factors. The issues covered in this chapter relate to generating a desired motion—that is, motion that would bring the robot to the right destination, with acceptable dynamics and collision-free. Addressing the reader who knows little about robotics, our goal is to give at least a perfunctory understanding of areas that relate to motion planning.
Applied Instrumentation in the Process Industries, Second Edition: Volume 1: A Survey, Second Edition by H BAXTER WILLIAMS