Download Foundations of Robotics: Analysis and Control PDF EPUB
Author: Author
Pages: 297
Size: 3.291,50 Kb
Publication Date: June 28,1990
Category: Robotics
Foundations of Robotics presents the essential ideas and methodologies for the evaluation, style, and control of robot manipulators. It clarifies the physical signifying of the ideas and equations utilized, and it provides, within an intuitively clear method, the necessary history in kinetics, linear algebra, and control theory. Illustrative illustrations appear throughout. The ultimate chapter develops the idea of manipulability. Appendixes provide compact testimonials of the function atan2, pseudo inverses, singular-worth decomposition, and Lyapunov balance theory. Different position-control algorithms that guideline the manipulator’s end effector along a preferred trajectory are referred to Two usual methods used to regulate the contact pressure between your end effector and its own environments are complete For manipulators with redundant levels of independence, a technique to build up control algorithms for energetic usage of the redundancy is definitely referred to. A chapter on dynamics contains the derivation of the powerful equations of movement, their make use of for control and simulation and the identification of inertial parameters.
The writer begins by discussing normal robot manipulator mechanisms and their controllers.
The next half targets the control of robot manipulators. He addresses the kinematics of robot manipulators, describing the movement of manipulator links and items related to manipulation. Then devotes three chapters to the evaluation of robot manipulator mechanisms.