Robot dynamics and control
Author(s)
Bibliographic Information
Robot dynamics and control
Wiley, c1989
- : pbk
Available at / 64 libraries
-
Kobe University Library for Science and Technology
: pbk.H038900004088*,
548-3-228//D030309503281 -
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Note
Includes bibliographical reference and index
Description and Table of Contents
- Volume
-
: pbk ISBN 9780471503521
Description
This textbook has been designed to introduce students to robot kinematics and dynamics. It includes a treatment of robot control, information on linear transformations, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems and adaptive control.
Table of Contents
- Rigid Motions and Homogeneous Transformations
- Forward Kinematics: The Denavit-Hartenberg Representation
- Inverse Kinematics
- Velocity Kinematics: The Manipulator Jacobian
- Dynamics
- Independent Joint Control
- Multivariable Control
- Force Control
- Feedback Linearization
- Variable Structure and Adaptive Control
- References
- Suggested Reading
- Appendices
- Index.
- Volume
-
ISBN 9780471612438
Description
This is a self-contained introduction to practical robot kinematics and dynamics, including a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases, and there are many worked examples, examples illustrating all aspects of the theory, and problems.
Table of Contents
Rigid Motions and Homogeneous Transformations. Forward Kinematics: The Denavit-Hartenberg Representation. Inverse Kinematics. Velocity Kinematics: The Manipulator Jacobian. Dynamics. Independent Joint Control. Multivariable Control. Force Control. Feedback Linearization. Variable Structure and Adaptive Control. References. Suggested Reading. Appendices. Index.
by "Nielsen BookData"