Robotics - Couverture rigide

Bajd, Tadej; Mihelj, Matjaž; Lenarčič, Jadran; Stanovnik, Aleš; Munih, Marko

Couverture rigide

ISBN 10 : 9048137756 ISBN 13 : 9789048137756

Editeur : Springer, 2010

Synopsis

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.

A propos du livre

Présentation de l'éditeur

This supplementary introductory text for courses in robotics or industrial robotics requires minimal knowledge of physics and mathematics. It treats many fundamental subjects in robotics and includes a glossary in English, French and German.

Détails de l'édition

• Éditeur: Springer
• Date d'édition: 2010
• Langue: anglais
• ISBN 10: 9048137756
• ISBN 13: 9789048137756
• Reliure: Relié
• Numéro d'édition: 1
• Nombre de pages: 152
• Coordonnées du fabricant: non disponible
• Personne responsable: CMN Printpool Inh. Mathis Neumann; https://www.also.com/ec/cms5/en_6000/6000/index.jsp; ; Friedrich-Karl-Str. 9; Hamburg; Allemagne