عنوان

Mechanics of robotic manipulation

Title Proper

Mechanics of robotic manipulation

Place of Publication, Distribution, etc.

Cambridge, Mass.

Name of Publisher, Distributor, etc.

MIT Press

Date of Publication, Distribution, etc.

c2001

Specific Material Designation and Extent of Item

xi, 253 p. : ill. ; 24 cm.

Other Title Information

Intelligent robots and autonomous agents

Text of Note

"A Bradford book."

Text of Note

Includes bibliographical references )p. ]241[-245( and index

Text of Note

Matthew T. Mason

Text of Note

1

Text of Note

2

Text of Note

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

Entry Element

، Manipulators )Mechanism(

Entry Element

، Robotics

Number

Class number

Entry Element

Mason, Matthew T.

Relator Code

AU

TI

SE