A Mathematical Introduction to Robotic ManipulationCRC Press, 1994. márc. 22. - 480 oldal A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses. |
Tartalomjegyzék
Introduction | 1 |
3 | 16 |
2 | 37 |
4 | 51 |
сл | 59 |
1 | 72 |
Manipulator Kinematics | 81 |
A planar example | 97 |
689 | 226 |
5 | 232 |
3 | 240 |
7 | 255 |
Hand Dynamics and Control | 265 |
3 | 281 |
4 | 291 |
5 | 298 |
Solving inverse kinematics using subproblems | 104 |
81 | 111 |
5 | 129 |
2 | 136 |
Robot Dynamics and Control | 144 |
3 | 164 |
Lyapunov Stability Theory | 179 |
7 | 205 |
Multifingered Hand Kinematics | 211 |
Más kiadások - Összes megtekintése
Gyakori szavak és kifejezések
actuated applied axis body velocity Chapter coadjoint action computed contact forces control law control system coordinate frame corresponding defined degrees of freedom denoted derived differential dynamics end-effector equations of motion example exponential map fingers force-closure formula forward kinematics friction cone function geometric given hence holonomic inertia integrable internal forces inverse kinematics Jacobian joint angles joint torques Lagrange multipliers Lagrangian Lie algebra Lie bracket Lie group linear manifold matrix mechanism metric motion planning multifingered hands nonholonomic systems nonlinear null space object optimal inputs parameterization Pfaffian Pfaffian constraints planar problem relative represent revolute joints rigid body rigid motion robot manipulator robot systems rolling rotation satisfies screw shown in Figure singular skew-symmetric skew-symmetric matrix smooth solve spatial velocity steering Stewart platform Subproblem surface tangent tendon theorem tool frame trajectory transformation twist u₁ variables vector fields workspace wrench