Robot modelling: control and applications with software

Front Cover
IFS (Publications), 1985 - Computers - 361 pages
This book provides a step-by-step survey of the theory and applications of industrial robots. It includes case studies, numerical examples, and sample robot programs. Robot Modeling develops a mathematical model that is general in purpose and applicable to any robot.

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Contents

Chapter One Introduction to robotics and robotised assembly
1
Chapter Two Mathematical preliminary of robot modelling
13
Chapter Three Link equations and relationships
23
Chapter Four Kinematic and position control
41
Chapter Five Differential relationships and speed control
73
Chapter Six Trajectory control
95
Chapter Seven Dynamic and control model
107
APPLICATION ORIENTATED DISCUSSION
119
Chapter Nine Task planning and compliance
193
Chapter Ten Systematic planning of robot projects
211
Chapter Eleven Computerassisted testing of threedimensional
227
Chapter Twelve Endeffectors sensors and automated robot
245
Chapter Thirteen Robotised manufacturing assembly system
319
Appendix
351
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