Introduction to robotics : mechanics and control
著者
書誌事項
Introduction to robotics : mechanics and control
（Addison-Wesley series in electrical and computer engineering, . Control engineering）
Tokyo : Addison-Wesley, c1989
2nd ed
- タイトル別名
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Robotics
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注記
Includes bibliographical references and index
内容説明・目次
内容説明
The second edition of this highly successful book introduces the science and engineering of mechanical manipulation and provides a complete overview of the fundamental skills underlying the mechanics and control of manipulators. This edition features new material on Controls, Computer-Aided Design and Manufacturing, and Off-Line Programming Systems. Each chapter introduces the fundamentals of a topic and uses specially-designed examples to demonstrate the use of these principles. The first edition was the winner of the Society of Manufacturing Engineers' M. Eugene Merchant Manufacturing Textbook Award.
目次
1. Introduction.
2. Spatial Descriptions and Transformations.
3. Manipulator Kinematics.
4. Inverse Manipulator Kinematics.
5. Jacobians: Velocities and Static Forces.
6. Manipulator Dynamics.
7. Trajectory Generation.
8. Manipulator Mechanism Design.
9. Linear Control of Manipulators.
10. Nonlinear Control of Manipulators.
11. Force Control of Manipulators.
12. Robot Programming Languages and Systems.
13. Off-Line Programming Systems.
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