Robotics And Control
1st Edition
0070482934
·
9780070482937
© 2003 | Published: February 6, 2003
"FeaturesThe book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators. Detailed chapter on Velocity Transformations, jacobian and Singularities. Trajectory Planning is developed using both jo…
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Chapter 1 Introduction to Robotics
Chapter 2 Coordinate Frames, Mapping and Transforms
Chapter 3 Symbolic Modeling of Robots – Direct Kinematic Model
Chapter 4 The Inverse Kinematics
Chapter 5 Manipulator Differential Motion and Statics
Chapter 6 Dynamic Modeling
Chapter 7 Trajectory Planning
Chapter 8 Control of Manipulators
Chapter 9 Robotics Sensors and Vision
Chapter 10 Robot Applications
Appendix A :
Review of Linear Algebra and Trigonometry
Appendix B :
METLAB and SIMULINK
Appendix C :
Link Mass Distribution and the Moment of Inertia Tensor
Appendix D :
Derivation of Equations of Motion
Appendix E :
List of Symbols
Index
"FeaturesThe book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators. Detailed chapter on Velocity Transformations, jacobian and Singularities. Trajectory Planning is developed using both joint s