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Foundations of Robotics : Analysis and Control (Paperback)

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Foundations of Robotics presents the fundamental concepts andmethodologies for the analysis, design, and control of robot manipulators. Itexplains 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 bydiscussing typical robot manipulator mechanisms and their controllers. He thendevotes three chapters to the analysis of robot manipulator mechanisms. He coversthe kinematics of robot manipulators, describing the motion of manipulator links andobjects related to manipulation. A chapter on dynamics includes the derivation ofthe dynamic equations of motion, their use for control and simulation and theidentification of inertial parameters. The final chapter develops the concept ofmanipulability.The second half focuses on the control of robot manipulators. Variousposition-control algorithms that guide the manipulators end effector along adesired trajectory are described Two typical methods used to control the contactforce between the end effector and its environments are detailed For manipulatorswith redundant degrees of freedom, a technique to develop control algorithms foractive utilization of the redundancy is described. Appendixes give compact reviewsof the function atan2, pseudo inverses, singular-value decomposition, and Lyapunovstability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Sciencein Kyoto Universitys Faculty of Engineering. *Author: Yoshikawa, Tsuneo *Binding Type: Paperback *Number of Pages: 298 *Publication Date: 2003/01/01 *Age Level: 22 - UP *Language: English *Dimensions: 6.00 x 9.00 x 0.62 inches


Publisher Mit Pr
Mfg Part# 9780262514583
SKU 213455809
Format Paperback
ISBN10 0262514583
Release Date 12/7/2009
Product Attributes
Book Format Paperback
Minimum Age 22
Number of Pages 0298
Publisher MIT Press (MA)
$35.00 + $2.75 shipping
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