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Introduction to Robotics: mechanics and control

By: Material type: TextTextPublication details: Addison Wesley Longman 1999Edition: 2nd edDescription: xi, 450pISBN:
  • 0201525399
Subject(s): DDC classification:
  • 629.892 CRA/I
Contents:
Preface v 1 Introduction 1 2 Spatial descriptions and transformations 19 3 Manipulator kinematics 62 4 Inverse manipulator kinematics 101 5 Jacobians: velocities and static forces 135 6 Manipulator dynamics 165 7 Trajectory generation 201 8 Manipulator-mechanism design 230 9 Linear control of manipulators 262 10 Nonlinear control of manipulators 290 11 Force control of manipulators 317 12 Robot programming languages and systems 339 13 Off-line programming systems 353 A Trigonometric identities 372 B The 24 angle-set conventions 374 C Some inverse-kinematic formulas 377 Solutions to selected exercises 379 Index 387
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Holdings
Item type Current library Home library Call number Status Date due Barcode
Book Book Study Centre Pandalam ,University of Kerala Processing Center Study Centre Pandalam ,University of Kerala 629.892 CRA/I (Browse shelf(Opens below)) Available USCP654

Includes index

Preface v
1 Introduction 1
2 Spatial descriptions and transformations 19
3 Manipulator kinematics 62
4 Inverse manipulator kinematics 101
5 Jacobians: velocities and static forces 135
6 Manipulator dynamics 165
7 Trajectory generation 201
8 Manipulator-mechanism design 230
9 Linear control of manipulators 262
10 Nonlinear control of manipulators 290
11 Force control of manipulators 317
12 Robot programming languages and systems 339
13 Off-line programming systems 353
A Trigonometric identities 372
B The 24 angle-set conventions 374
C Some inverse-kinematic formulas 377
Solutions to selected exercises 379
Index 387

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