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0.robot_theory_overview

Dec 16, 2021, 3 min read

机器人基础

1 机器人控制基础Foundation

1.1 参考书籍/资料

  • Spinger Handbook of Robotics Bruno Siciliano et al.
    • 百科全书型
  • Robotics Modeling, Planning and Control by Bruno Siciliano et al.
    • 百科全书型
  • Robot Modeling and Control by Mark W. Spong et al.
    • 串联机械臂的正向运动学、速度运动学、逆向运动学
  • Modern Robotics: Mechanics, Planning, and Control by Kevin M. Lynch et al.
    • 串联机械臂的运动学，重点是POE法
  • Kinematics equations for differential drive and articulated steering by Thomas Hellstrom
    • 移动机器人入门材料
  • The Wiki for Robot Builders - Robotics Knowledgebase

1.2 理论

1.2.1 运动学Kinematics

1.2.1.1 正向运动学
1.2.1.2 逆向运动学
1.2.1.3 速度运动学 Velocity Kinematics - Jacobian

1.2.2 运动规划，Motion planning, path and trajectory planning

1.2.3 动力学Dynamics

1.2.3.1 控制Control

1.3 实践

1.3.1 Matlab Robotics Toolbox

1.3.2 ROS

2 感知基础

2.1 机器视觉

2.1.1 2D视觉

2.1.2 3D视觉：点云

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