Introduction to robotics : mechanics and control
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Auteur principal : | |
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Format : | Livre |
Langue : | anglais |
Titre complet : | Introduction to robotics : mechanics and control / John J. Craig |
Édition : | 3rd edition |
Publié : |
Upper Saddle River, N.J. :
Pearson Education
, cop. 2005 |
Description matérielle : | 1 vol. (viii-400 p.) |
Contenu : | Introduction. Spatial descriptions and transformations. Manipulator kinematics. Inverse manipulator kinematics. Jacobians: velocities and static forces. Manipulator dynamics. Trajectory generation. Manipulator-mechanism design. Linear control of manipulators. Nonlinear control of manipulators. Force conrol of manipulators. Robot programming languages and systems. Off-line programming systems. Trigonometric identities. The 24 angle-set conventions. Some inverse-kinematic formulas. Solutions to selected exercises |
Sujets : |
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