Robotics
著者
書誌事項
Robotics
(International series on intelligent systems, control and automation : science and engineering / editor, S. G. Tzafestas, v. 43)
Springer, c2010
大学図書館所蔵 全3件
  青森
  岩手
  宮城
  秋田
  山形
  福島
  茨城
  栃木
  群馬
  埼玉
  千葉
  東京
  神奈川
  新潟
  富山
  石川
  福井
  山梨
  長野
  岐阜
  静岡
  愛知
  三重
  滋賀
  京都
  大阪
  兵庫
  奈良
  和歌山
  鳥取
  島根
  岡山
  広島
  山口
  徳島
  香川
  愛媛
  高知
  福岡
  佐賀
  長崎
  熊本
  大分
  宮崎
  鹿児島
  沖縄
  韓国
  中国
  タイ
  イギリス
  ドイツ
  スイス
  フランス
  ベルギー
  オランダ
  スウェーデン
  ノルウェー
  アメリカ
注記
Includes bibliographical references and index
内容説明・目次
内容説明
The word "robot" does not originate from a science or engineering vocabulary. It was rst used in the Czech drama R.U.R. (Rossum's Universal Robots) written by Karel Capek and was rst played in Prague in 1921 (the word itself was invented by his brother Josef). In the drama the "robot" is an arti cial human being which is a brilliant worker, deprived of all unnecessary qualities: feelings, creativity and capacity for feeling pain. In the prologue of the drama the following "de nition" of robots is given: Robots are not people (Roboti nejsou lide). They are mecha- cally more perfect than we are, they have an astounding intellectual capacity, but they have no soul. The creation of an engineer is technically more re ned than the product of nature. The textbook "Robotics" evolved through more than 10 years of teaching robotics at the Faculty of Electrical Engineering, of the University of Ljubljana, Slovenia. The way of presenting the rather demanding subject was successfully tested with several generations of undergraduatestudents.
目次
- 1 Introduction
- 1.1 Degree of freedom
- 1.2 Robot manipulator
- 1.3 Robot arms
- 1.4 Robot manipulators in industrial environment
- 2 Homogenous transformation matrices
- 2.1 Translational transformation
- 2.2 Rotational transformation
- 2.3 Pose and displacement
- 2.4 Geometrical robot model
- 3 Geometric description of the robot mechanism
- 3.1 Vector parameters of a kinematic pair
- 3.2 Vector parameters of themechanism
- 4 Two-segment robot manipulator
- 4.1 Kinematics
- 4.2 Workspace
- 4.3 Dynamics
- 5 Robot sensors
- 5.1 Principles of sensing
- 5.2 Sensors of movement
- 5.2.1 Placing of sensors
- 5.2.2 Potentiometer
- 5.2.3 Optical encoder
- 5.2.4 Tachometer
- 5.3 Force sensors
- 5.4 Robot vision
- 6 Trajectory planning
- 6.1 Interpolation of the trajectory between two points
- 6.2 Interpolation by use of via points
- 7 Robot control
- 7.1 Control of the robot in internal coordinates
- 7.1.1 PD control of position
- 7.1.2 PD control of position with gravity compensation
- 7.1.3 Control of the robot based on inverse dynamics
- 7.2 Control of the robot in external coordinates
- 7.2.1 Control based on the transposed Jacobianmatrix
- 7.2.2 Control based on the inverse Jacobianmatrix
- 7.2.3 PD control of position with gravity compensation
- 7.2.4 Control of the robot based on inverse dynamics
- 7.3 Control of the contact force
- 7.3.1 Linearization of a robot system through inverse dynamics
- 7.3.2 Force control
- 8 Robot environment
- 8.1 Robot grippers
- 8.2 Feeding devices
- 8.3 Robot assembly
- 9 Standards and safety in robotics
- Robot vocabulary
- Further reading
- Index.
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