Robot dynamics and control
著者
書誌事項
Robot dynamics and control
Wiley, c1989
- : pbk
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注記
Includes bibliographical reference and index
内容説明・目次
- 巻冊次
-
: pbk ISBN 9780471503521
内容説明
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.
目次
- 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.
- 巻冊次
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ISBN 9780471612438
内容説明
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.
目次
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.
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