## Fundamentals of robotics: analysis and controlA complete overview of the fundamentals of robotics. Case study examples of educational, industrial and generic robots are discussed. Class demonstration software is provided with the laboratory manual. (vs. Craig, Fu, and Asada). |

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### Contents

ROBOTIC MANIPULATION | 1 |

THE ARM EQUA TION | 2 |

SOLVING THE ARM EQUA TION | 81 |

Copyright | |

8 other sections not shown

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Algorithm approach vector arm matrix asymptotically stable atan2 axes base frame camera center of mass central moments column components computed configuration constraint control law coordinate frame coordinate transformation matrix denote diagonal dot product elbow envelope equations equilibrium point example expression Figure five-axis articulated robot formulation four-axis SCARA robot homogeneous coordinate inertia tensor inverse kinematics inverse kinematics problem Jacobian matrix joint torques joint variables joint-space singularity kinematic parameters Liapunov function linear manipulator Jacobian mass of link mobile motion one-axis robot operation PID controller pixels planar articulated robot position and orientation Prop pseudoinverse represents robot in Fig robotic arm robotic manipulator rotation matrix shown in Fig solution specified Suppose tion tool displacement tool orientation tool pitch angle tool roll angle tool tip tool-configuration Jacobian matrix tool-configuration space tool-configuration vector tool-tip position torque trajectory transfer function transformation matrix translation velocity vertical workspace wrist zero