附註:Includes bibliographical references (pages 295-302) and index.
Cover -- Preface -- Acknowledgments -- Table of Contents -- Chapter 1. Introduction -- 1.1. The Modern Industrial World: The Intelligent Robotic Workcell -- 1.2. How to Read this Book -- Chapter 2. Intelligent Robotic Systems -- 2.1. The Intelligent Robotic Workcell -- 2.2. Hierarchical Control of the Intelligent Robotic Cell -- 2.3. Centralization versus Autonomy of the Robotic Cell Agent -- 2.4. Structure and Behavior of the Intelligent Robotic System -- Part I. Off-Line Planning, Programming, and Simulation of Intelligent Robotic Systems -- Chapter 3. Virtual Robotic Cells -- 3.1. Logical Model of the Robotic Cell -- 3.2. Geometrical Model of the Robotic Cell -- 3.3. Basic Methods of Computational Geometry -- Chapter 4. Planning of Robotic Cell Actions -- 4.1. Task Specification -- 4.2. Methods for Planning Robotic Cell Actions -- 4.3. Production RoutesFundamental Plans of Action -- Chapter 5. Off-Line Planning of Robot Motion -- 5.1. Collision-Free Path Planning of Robot Manipulator -- 5.2. Time-Trajectory Planner -- 5.3. Planning for Fine Motion and Grasping -- Chapter 6. CAP/CAM Systems for Robotic Cell Design -- 6.1. Structure of the CAP/CAM System ICARS -- 6.2. Intelligent Robotic Cell Design with ICARS -- 6.3. Structure of the HyRob System and Robot Design Process -- Part II. Event-Based Real-Time Control of Intelligent Robotic Systems Using Neural Networks and Fuzzy Logic -- Chapter 7. The Execution Level of Robotic Agent Action -- 7.1. Event-Based Modeling and Control of Workstation -- 7.2. Discrete Event-Based Model of Production Store -- 7.3. Event-Based Model and Control of a Robotic Agent -- 7.4. Neural and Fuzzy Computation-Based Intelligent Robotic Agents -- Chapter 8. The Coordination Level of a Multiagent Robotic System -- 8.1 Acceptor: Workcell State Recognizer -- 8.2. Centralized Robotic System Coordinator -- 8.3. Distributed Robotic System Coordinator -- 8.4. Lifelong-Learning-Based Coordinator of Real-World Robotic Systems -- Chapter 9. The
摘要:Here is a comprehensive presentation of methodology for the design and synthesis of an intelligent complex robotic system, connecting formal tools from discrete system theory, artificial intelligence, neural network, and fuzzy logic. The necessary methods for solving real time action planning, coordination and control problems are described. A notable chapter presents a new approach to intelligent robotic agent control acting in a realworld environment based on a lifelong learning approach combining cognitive and reactive capabilities. Another key feature is the homogeneous description of all solutions and methods based on system theory formalism.
