Robot Analysis and ControlIntroduces 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. |
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 |
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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