Introduction to robotics mechanics and control
Başlık:
Introduction to robotics mechanics and control
ISBN:
9780201543612
Yazar:
Basım Bilgisi:
3.bs
Yayım Bilgisi:
Upper Saddle River, N.J. : Pearson/Prentice Hall , 2005.
Fiziksel Açıklamalar:
viii, 400 s. : res. ; 25 cm.
Genel Not:
kaynakça var.
1 Introduction 1 2 Spatial descriptions and transformations 19 3 Manipulator kinematics 62 4 Inverse manipulator kinematics 101 5 Jacobians: velocities and static forces 135 6 Manipulator dynamics 165 7 Trajectory generation 201 8 Manipulator-mechanism design 230 9 Linear control of manipulators 262 10 Nonlinear control of manipulators 290 11 Force control of manipulators 317 12 Robot programming languages and systems 339 13 Off-line programming systems 353 A Trigonometric identities 372 B The 24 angle-set conventions 374 C Some inverse-kinematic formulas 377
Özet:
1 Introduction 1 2 Spatial descriptions and transformations 19 3 Manipulator kinematics 62 4 Inverse manipulator kinematics 101 5 Jacobians: velocities and static forces 135 6 Manipulator dynamics 165 7 Trajectory generation 201 8 Manipulator-mechanism design 230 9 Linear control of manipulators 262 10 Nonlinear control of manipulators 290 11 Force control of manipulators 317 12 Robot programming languages and systems 339 13 Off-line programming systems 353 A Trigonometric identities 372 B The 24 angle-set conventions 374 C Some inverse-kinematic formulas 377