Robotic control
著者
書誌事項
Robotic control
（Macmillan new electronics series）
Macmillan, 1990
- pbk
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注記
Includes bibliographical references and index
"Macmillan new electronics introductions to advanced topics" -- on title page
内容説明・目次
内容説明
The books in this series offer introductions to advanced topics in electronics. The aim of this text is to present the concepts and technologies used in state-of-the-art robots, with an emphasis on fixed-base robots for industrial applications. The early chapters describe the structure of a robot and its hardware components, followed by a study of how good dynamic control can be achieved. The second part develops the theme of adding external sensors and other equipment to the simple robot, making possible more advanced applications. The book is intended as a text for an undergraduate course or as an introduction for graduates new to the area. A basic working knowledge of computers and programming is assumed throughout and of Laplace tranforms in parts of chapters 3 and 4.
目次
- Historical development and robot definition
- kinematics and dynamics
- sensors and actuators
- dynamic control
- task control
- external sensors
- workcell control
- future trends. Appendices: relationships between co-ordinate frames
- joint transformations and their appication to an elbow manipulator
- Lagrangian analysis of a two-link mechanism.
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