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Mark W. Spong

Robot Dynamics and Control

€ 408.95

This self contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control.


Taal / Language : English

Inhoudsopgave:
Introduction
1(31)
Introduction
1(1)
Robotics
2(2)
Components and Structure of Robots
4(4)
Common Kinematic Arrangements
8(13)
Outline of the Text
21(11)
References and Suggested Reading
27(2)
Problems
29(3)
Rigid Motions and Homogeneous Transformations
32(30)
Rotations
33(5)
Composition of Rotations
38(5)
Further Properties of Rotations
43(3)
Homogeneous Transformations
46(4)
Skew Symmetric Matrices
50(3)
Angular Velocity and Acceleration
53(2)
Addition of Angular Velocities
55(7)
References and Suggested Reading
56(1)
Problems
57(5)
Forward Kinematics: The Denavit-Hartenberg Representation
62(30)
Kinematic Chains
62(3)
Denavit-Hartenberg Representation
65(7)
Examples
72(20)
References and Suggested Reading
83(1)
Problems
84(8)
Inverse Kinematics
92(19)
Introduction
92(2)
Kinematic Decoupling
94(2)
Inverse Position: A Geometric Approach
96(6)
Inverse Orientation
102(9)
References and Suggested Reading
107(1)
Problems
108(3)
Velocity Kinematics---The Manipulator Jacobian
111(18)
Derivation of the Jacobian
112(5)
Examples
117(2)
Singularities
119(7)
Inverse Velocity and Acceleration
126(3)
References and Suggested Reading
127(1)
Problems
128(1)
Dynamics
129(38)
Euler-Lagrange Equations
129(7)
Expressions for Kinetic and Potential Energy
136(5)
Equations of Motion
141(3)
Some Common Configurations
144(9)
Newton-Euler Formulation
153(6)
Planar Elbow Manipulator Revisited
159(8)
References and Suggested Reading
162(1)
Problems
163(4)
Independent Joint Control
167(49)
Introduction
167(2)
Actuator Dynamics
169(6)
Set-Point Tracking
175(8)
Drive Train Dynamics
183(12)
Trajectory Interpolation
195(11)
Feedforward Control and Computed Torque
206(10)
References and Suggested Reading
211(1)
Problems
212(4)
Multivariable Control
216(25)
Introduction
216(1)
PD Control Revisited
216(5)
Inverse Dynamics
221(3)
Implementation and Robustness Issues
224(3)
Robust Outer Loop Design
227(14)
References and Suggested Reading
236(3)
Problems
239(2)
Force Control
241(18)
Introduction
241(4)
Natural and Artificial Constraints
245(1)
Stiffness and Compliance
246(5)
Inverse Dynamics in Task Space
251(1)
Impedance Control
252(2)
Hybrid Position/Force Control
254(5)
References and Suggested Reading
256(1)
Problems
257(2)
Feedback Linearization
259(25)
Introduction
259(2)
Background: The Frobenius Theorem
261(5)
Single-Input Systems
266(8)
Feedback Linearization for N-Link Robots
274(3)
Introduction to Outer Loop Design
277(2)
Outer Loop Design by Lyapunov`s Second Method
279(5)
References and Suggested Reading
281(1)
Problems
281(3)
Variable Structure and Adaptive Control
284(32)
Introduction
284(4)
The Method of Sliding Modes
288(13)
Adaptive Control
301(15)
References and Suggested Reading
313(1)
Problems
314(2)
Appendix A: Linear Algebra 316(5)
Appendix B: State Space Theory of Dynamical Systems 321(4)
Appendix C: Lyapunov Stability 325(6)
Index 331
Extra informatie: 
Paperback / softback
352 pagina's
Januari 1989
500 gram
237 x 158 x 21 mm
John Wiley & Sons us

Levertijd: 5 tot 11 werkdagen