عنوان

Modern robotics :

1107156300

1316609847

9781107156302

9781316609842

Modern robotics :

[Book]

mechanics, planning, and control /

Kevin M. Lynch, Northwestern University, Illinois, Frank C. Park, Seoul National University.

New York, NY :

Cambridge University Press,

2017.

©2017

xvi, 528 pages :

illustrations ;

26 cm

Includes bibliographical references (pages 515-523) and index.

Machine generated contents note: 1. Preview -- 2. Configuration Space -- 2.1. Degrees of Freedom of a Rigid Body -- 2.2. Degrees of Freedom of a Robot -- 2.3. Configuration Space: Topology and Representation -- 2.4. Configuration and Velocity Constraints -- 2.5. Task Space and Workspace -- 2.6. Summary -- 2.7. Notes and References -- 2.8. Exercises -- 3. Rigid-Body Motions -- 3.1. Rigid-Body Motions in the Plane -- 3.2. Rotations and Angular Velocities -- 3.3. Rigid-Body Motions and Twists -- 3.4. Wrenches -- 3.5. Summary -- 3.6. Software -- 3.7. Notes and References -- 3.8. Exercises -- 4. Forward Kinematics -- 4.1. Product of Exponentials Formula -- 4.2. The Universal Robot Description Format -- 4.3. Summary -- 4.4. Software -- 4.5. Notes and References -- 4.6. Exercises -- 5. Velocity Kinematics and Statics -- 5.1. Manipulator Jacobian -- 5.2. Statics of Open Chains -- 5.3. Singularity Analysis -- 5.4. Manipulability -- 5.5. Summary -- 5.6. Software -- 5.7. Notes and References -- 5.8. Exercises.

Note continued: 12.3. Manipulation -- 12.4. Summary -- 12.5. Notes and References -- 12.6. Exercises -- 13. Wheeled Mobile Robots -- 13.1. Types of Wheeled Mobile Robots -- 13.2. Omnidirectional Wheeled Mobile Robots -- 13.3. Nonholonomic Wheeled Mobile Robots -- 13.4. Odometry -- 13.5. Mobile Manipulation -- 13.6. Summary -- 13.7. Notes and References -- 13.8. Exercises -- A. Summary of Useful Formulas -- B. Other Representations of Rotations -- C. Denavit -- Hartenberg Parameters -- D. Optimization and Lagrange Multipliers.

Note continued: 6. Inverse Kinematics -- 6.1. Analytic Inverse Kinematics -- 6.2. Numerical Inverse Kinematics -- 6.3. Inverse Velocity Kinematics -- 6.4.A Note on Closed Loops -- 6.5. Summary -- 6.6. Software -- 6.7. Notes and References -- 6.8. Exercises -- 7. Kinematics of Closed Chains -- 7.1. Inverse and Forward Kinematics -- 7.2. Differential Kinematics -- 7.3. Singularities -- 7.4. Summary -- 7.5. Notes and References -- 7.6. Exercises -- 8. Dynamics of Open Chains -- 8.1. Lagrangian Formulation -- 8.2. Dynamics of a Single Rigid Body -- 8.3. Newton -- Euler Inverse Dynamics -- 8.4. Dynamic Equations in Closed Form -- 8.5. Forward Dynamics of Open Chains -- 8.6. Dynamics in the Task Space -- 8.7. Constrained Dynamics -- 8.8. Robot Dynamics in the URDF -- 8.9. Actuation, Gearing, and Friction -- 8.10. Summary -- 8.11. Software -- 8.12. Notes and References -- 8.13. Exercises -- 9. Trajectory Generation -- 9.1. Definitions -- 9.2. Point-to-Point Trajectories.

Note continued: 9.3. Polynomial Via Point Trajectories -- 9.4. Time-Optimal Time Scaling -- 9.5. Summary -- 9.6. Software -- 9.7. Notes and References -- 9.8. Exercises -- 10. Motion Planning -- 10.1. Overview of Motion Planning -- 10.2. Foundations -- 10.3.Complete Path Planners -- 10.4. Grid Methods -- 10.5. Sampling Methods -- 10.6. Virtual Potential Fields -- 10.7. Nonlinear Optimization -- 10.8. Smoothing -- 10.9. Summary -- 10.10. Notes and References -- 10.11. Exercises -- 11. Robot Control -- 11.1. Control System Overview -- 11.2. Error Dynamics -- 11.3. Motion Control with Velocity Inputs -- 11.4. Motion Control with Torque or Force Inputs -- 11.5. Force Control -- 11.6. Hybrid Motion -- Force Control -- 11.7. Impedance Control -- 11.8. Low-Level Joint Force -- Torque Control -- 11.9. Other Topics -- 11.10. Summary -- 11.11. Software -- 11.12. Notes and References -- 11.13. Exercises -- 12. Grasping and Manipulation -- 12.1. Contact Kinematics -- 12.2. Contact Forces and Friction.

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0

0

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Manipulators (Mechanism)

Robotics.

Robots-- Control systems.

Robots-- Design and construction.

Robots-- Dynamics.

Manipulators (Mechanism)

Robotics.

Robots-- Control systems.

Robots-- Design and construction.

Robots-- Dynamics.

Lynch, Kevin, (Kevin M.)

Park, Frank C.

20200822150116.0

rda

[Book]

Y