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Mechanics of robotic manipulation
پدید آورنده
Mason, Matthew T.
موضوع
، Manipulators )Mechanism(,، Robotics
رده
TJ
211
.
M345
کتابخانه
کتابخانه مرکزی دانشگاه صنعتی همدان
محل استقرار
استان:
همدان
ـ شهر:
همدان
تماس با کتابخانه :
38411100
-
081
Mechanics of robotic manipulation
Cambridge, Mass.
MIT Press
c2001
xi, 253 p. : ill. ; 24 cm.
Intelligent robots and autonomous agents
"A Bradford book."
Includes bibliographical references )p. ]241[-245( and index
Matthew T. Mason
1
2
Machine generated contents note: Chapter 1 Manipulation 1 -- 1.1 Case 1: Manipulation by a human 1 -- 1.2 Case 2: An automated assembly system 3 -- 1.3 Issues in manipulation 5 -- 1.4 A taxonomy of manipulation techniques 7 -- 1.5 Bibliographic notes 8 -- Exercises 8 --Chapter 2 Kinematics 11 -- 2.1 Preliminaries 11 -- 2.2 Planar kinematics 51 -- 2.3 Spherical kinematics 02 -- 2.4 Spatial kinematics 22 -- 2.5 Kinematic constraint 52 -- 2.6 Kinematic mechanisms 43 -- 2.7 Bibliographic notes 63 -- Exercises 73 --Chapter 3 Kinematic Representation 14 -- 3.1 Representation of spatial rotations 14 -- 3.2 Representation of spatial displacements 85 -- 3.3 Kinematic constraints 86 -- 3.4 Bibliographic notes 27 -- Exercises 27 --Chapter 4 Kinematic Manipulation 77 -- 4.1 Path planning 77 -- 4.2 Path planning for nonholonomic systems 48 -- 4.3 Kinematic models of contact 68 -- 4.4 Bibliographic notes 88 -- Exercises 88 Chapter 5 Rigid Body Statics 39 -- 5.1 Forces acting on rigid bodies 39 -- 5.2 Polyhedral convex cones 99 -- 5.3 Contact wrenches and wrench cones 201 -- 5.4 Cones in velocity twist space 401 -- 5.5 The oriented plane 501 -- 5.6 Instantaneous centers and Reuleaux's method 901 -- 5.7 Line of force; moment labeling 011 -- 5.8 Force dual 211 -- 5.9 Summary 711 -- 5.01 Bibliographic notes 711 -- Exercises 811 --Chapter 6 Friction 121 -- 6.1 Coulomb's Law 121 -- 6.2 Single degree-of-freedomproblems 321 -- 6.3 Planar single contact problems 621 -- 6.4 Graphical representation of friction cones 721 -- 6.5 Static equilibrium problems 821 -- 6.6 Planar sliding 031 -- 6.7 Bibliographic notes 931 -- Exercises 931 --Chapter 7 Quasistatic Manipulation 341 -- 7.1 Grasping and fixturing 341 -- 7.2 Pushing 741 -- 7.3 Stable pushing 351 -- 7.4 Parts orienting 261 -- 7.5 Assembly 861 -- 7.6 Bibliographic notes 371 -- Exercises 571 -- Chapter 8 Dynamics 181 -- 8.1 Newton's laws 181 -- 8.2 A particle in three dimensions 181 -- 8.3 Moment of force; moment of momentum 381 -- 8.4 Dynamics of a system of particles 481 -- 8.5 Rigid body dynamics 681 -- 8.6 The angular inertia matrix 981 -- 8.7 Motion of a freely rotating body 591 -- 8.8 Planar single contact problems 791 -- 8.9 Graphical methods for the plane 302 -- 8.01 Planar multiple-contact problems 502 -- 8.11 Bibliographic notes 702 -- Exercises 802 --Chapter 9 Impact 112 -- 9.1 Aparticle 112 -- 9.2 Rigid body impact 712 -- 9.3 Bibliographic notes 322 -- Exercises 322 --Chapter 01 Dynamic Manipulation 522 -- 01.1 Quasidynamic manipulation 522 -- 01.2 Briefly dynamic manipulation 922 -- 01.3 Continuously dynamic manipulation 032 -- 01.4 Bibliographic notes 232 -- Exercises 532
، Manipulators )Mechanism(
، Robotics
629
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8/92
TJ
211
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M345
Mason, Matthew T.
AU
TI
SE
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