Robotics(2010th Edition)
Authors:
Tadej Bajd ,Matjaz Mihelj ,Jadran Lenarcic ,Ales Stanovnik ,Marko Munih
In Stock: 1 Left
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Solution Manual Includes
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$9.99
Book details
ISBN: 9048137756, 978-9048137756
Book publisher: Springer
Book Price $0 : 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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