| 刊年 | 1990 |
| G/SMD | リモートファイル |
| 形態 | 1 online resource (x, 285 p.) : ill. |
| 別書名 | Robotto seigyo kisoron
|
| 注記 | Includes bibliographical references and index
Restricted to subscribers or individual electronic text purchasers
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability.The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering
Also available in print
Mode of access: World Wide Web
Description based on PDF viewed 12/23/2015
URL:https://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=6267451(Abstract with links to resource) |
| 出版国 | アメリカ合衆国 |
| 標題言語 | 英語 |
| 本文言語 | 英語 |
| 原作言語 | 日本語 |
| 著者情報 | Yoshikawa, Tsuneo
|
| ISBN | 9780262286541(: electronic bk)
|
| 無効/取消ISBN | 9780262514583(: electronic bk)
|
| 件名 | LCSH:Robotics
|
| NCID | 6267451 |
| IDENT | https://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=6267451 |