Robot Analysis and Control

Front Cover
John Wiley & Sons, Jan 16, 1991 - Technology & Engineering - 288 pages
Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
 

Selected pages

Contents

I
2
II
4
III
8
IV
11
V
15
VII
29
VIII
39
IX
49
XX
104
XXI
119
XXII
131
XXIII
133
XXIV
136
XXV
139
XXVI
157
XXVII
165

X
51
XII
63
XIII
70
XIV
73
XVI
86
XVII
92
XVIII
93
XIX
94
XXVIII
170
XXIX
185
XXX
189
XXXI
199
XXXII
210
XXXIII
216
Copyright

Other editions - View all

Robot Analysis and Control
Haruhiko Asada,J.-J. E. Slotine
Snippet view - 1986
Robot Analysis and Control
H. Asada,J.-J. E. Slotine
Snippet view - 1986

Common terms and phrases

actuators algorithm angular velocity applied arm configuration arm linkage Artificial Intelligence Artificial Intelligence Laboratory Asada Assembly axes base frame boundary layer centroid compliance frame Conf constraints control bandwidth control law coordinate transformation coupling force defined degree-of-freedom planar manipulator derive Design desired trajectory endpoint force environment equations of motion Euler angles expression force control forces and moments given hybrid control I.E.E.E. Trans impedance control Industrial Robots infinitesimal rotations instantaneous kinematics inverse dynamics inverse kinematics Jacobian matrix joint axis joint displacements joint torques joint velocities kinematic chain kinematic equation linear Lyapunov function manipulator arm manipulator dynamics manipulator inertia tensor manipulator Jacobian mass properties Mechanical Newton-Euler equations nonlinear null space obtain parameters parametric uncertainty position and orientation problem recursive represents revolute joint rigid body Robot Manipulators Robotics Research robustness rotation matrix Section shown in Figure singular solutions stiffness structure Symp task-space term variables

References to this book

About the author (1991)

Haruhiko Asada is Ford Professor of Engineering; Director, d'Arbeloff Laboratory for Information Systems and Technology; Head, Control, Instrumentation, and Robotics, at MIT. J.-J. E. Slotine is the author of Robot Analysis and Control, published by Wiley.

Bibliographic information

TitleRobot Analysis and Control
A Wiley-interscience publication
AuthorsH. Asada, J.-J. E. Slotine
Editionillustrated
PublisherJohn Wiley & Sons, 1991
ISBN0471830291, 9780471830290
Length288 pages
Subjects › 

Technology & Engineering / Automation
Technology & Engineering / Manufacturing
Technology & Engineering / Mechanical
  
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