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Zusatztext "This is a wonderful reference for designing! modeling! controlling! and interfacing robotics?well presented?provides a great foundation relating manipulator tasks! design! and control?Modern techniques of force and impedance (hybrid) control! sliding mode control! and input shaping for vibration are shown with clear examples." - International Journal of Engineering Education! October 2005 Informationen zum Autor Thomas R. Kurfess Klappentext With the ability to accomplish a variety of jobs! such as welding! surgery! assembly! cleaning! and more! the Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing! fabricating! or utilizing robotic systems. It targets issues related to determining the specifications and configurations for developing an actual robot and discusses how a robot is controlled using a variety of controls in terms of trajectory and input signals it needs. The book explains the ways a robot is! how it "senses" the external world! and how design and fabrication are affected by application needs. Zusammenfassung Offers a foundation for engineers and scientists interested in designing, fabricating, and enabling robotic systems and their various applications. This book presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. Inhaltsverzeichnis The History of Robotics. Rigid-Body Kinematics. Inverse Kinematics. Newton-Euler Dynamics of Robots. Lagrangian Dynamics. Kane's Method in Robotics. The Dynamics of Systems of Interacting Rigid Bodies. D-H Convention. Trajectory Planning for Flexible Robots. Error Budgeting. Design of Robotic End Effectors. Sensors. Precision Positioning of Rotary and Linear Systems. Modeling and Identification for Robot Motion Control. Motion Control by Linear Feedback Methods. Force/Impedance Control for Robotic Manipulators. Robust and Adaptive Motion Control of Manipulators. Sliding Mode Control of Robotic Manipulators. Impedance and Interaction Control. Coordinated Motion Control of Multiple Manipulators. Robot Simulation. Survey of Geometric Vision. Haptic Interface to Virtual Environments. Flexible Robot Arms. Robotics in Medical Applications. Manufacturing Automation....
