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Mark W. Spong
Robot Modeling and Control
Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 1
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Robot Modeling and Control
Страница 3
CONTENTS
List of Tables
List of Illustrations
Guide
Pages
Страница 9
Preface
CHAPTER 1 INTRODUCTION
1.1 Mathematical Modeling of Robots
1.1.1 Symbolic Representation of Robot Manipulators
1.1.2 The Configuration Space
1.1.3 The State Space
1.1.4 The Workspace
1.2 Robots as Mechanical Devices
1.2.1 Classification of Robotic Manipulators
Power Source
Method of Control
Application Area
Geometry
1.2.2 Robotic Systems
1.2.3 Accuracy and Repeatability
1.2.4 Wrists and End Effectors
1.3 Common Kinematic Arrangements
1.3.1 Articulated Manipulator (RRR)
1.3.2 Spherical Manipulator (RRP)
1.3.3 SCARA Manipulator (RRP)
1.3.4 Cylindrical Manipulator (RPP)
1.3.5 Cartesian Manipulator (PPP)
1.3.6 Parallel Manipulator
1.4 Outline of the Text
1.4.1 Manipulator Arms
Chapter 2: Rigid Motions
Chapter 3: Forward Kinematics
Chapter 4: Velocity Kinematics
Chapter 5: Inverse Kinematics
Chapter 6: Dynamics
Chapter 7: Path Planning and Trajectory Generation
Chapter 8: Independent Joint Control
Chapter 9: Nonlinear and Multivariable Control
Chapter 10: Force Control
Chapter 11: Vision-Based Control
Chapter 12: Feedback Linearization
1.4.2 Underactuated and Mobile Robots Chapter 13: Underactuated Systems
Chapter 14: Mobile Robots
Problems
Notes and References
Note
Страница 51
CHAPTER 2 RIGID MOTIONS
2.1 Representing Positions
2.2 Representing Rotations
2.2.1 Rotation in the Plane
2.2.2 Rotations in Three Dimensions
2.3 Rotational Transformations
Similarity Transformations
2.4 Composition of Rotations
2.4.1 Rotation with Respect to the Current Frame
2.4.2 Rotation with Respect to the Fixed Frame
2.4.3 Rules for Composition of Rotations
2.5 Parameterizations of Rotations
2.5.1 Euler Angles
2.5.2 Roll, Pitch, Yaw Angles
2.5.3 Axis-Angle Representation
2.5.4 Exponential Coordinates
Rodrigues’ Formula
2.6 Rigid Motions
2.6.1 Homogeneous Transformations
2.6.2 Exponential Coordinates for General Rigid Motions
2.7 Chapter Summary
Problems
Notes and References
Notes
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