Fundamentals of Robotic Mechanical Systems
Tim Kasse
- 出版商: Demos Medical Publis
- 出版日期: 2002-10-16
- 售價: $1,225
- 語言: 英文
- 頁數: 472
- 裝訂: Hardcover
- ISBN: 038795368X
- ISBN-13: 9780387953687
-
相關分類:
機器人製作 Robots
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相關主題
商品描述
Modern robotics dates from the late 1960s, when progress
in the development of microprocessors made possible the computer control of a
multiaxial manipulator. Since then, robotics has evolved to connect with many
branches of science and engineering, and to encompass such diverse fields as
computer vision, artificial intelligence, and speech recognition.
This book
deals with robots at large - such as remote manipulators, multifingered hands,
walking machines, flight simulators, and machine tools-that rely on mechanical
systems to perform their tasks. It aims to establish the foundations on which
the design, control and implementation of the underlying mechanical subsystems
are based. The treatment assumes familiarity with some calculus, linear algebra,
and elementary mechanics; however, the elements of rigid-body mechanics and of
linear transformations are reviewed in the first chapters, making the
presentation self-contained. An extensive set of exercises is
included.
Topics covered include: kinematics and dynamics of serial
manipulators with decoupled architectures; trajectory planning; determination of
the angular velocity and angular acceleration of a rigid body from point data;
inverse and direct kinematics of general serial and of parallel manipulators;
dynamics of general parallel manipulators of the platform type; and the
kinematics and dynamics of rolling robots.
Since the publication of the
previous edition there have been numerous advances in both the applications of
robotics (including in laprascopy, haptics, manufacturing, and most notably
space exploration) and in the theoretical aspects (for example, the proof that
Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question
in the previous edition). This new edition has been revised and updated
throughout to include these new developments, and errors, inaccuracies, and
infelicities of the in the previous edition have been corrected.
TABLE OF CONTENTS
1. An Overview of Robotic
Mechanical Systems
2. Mathematical Background 3. Fundamentals of Rigid-Body
Mechanics 4. Kinetostatics of Simple Robotic Manipulators 5. Trajectory
Planning: Pick-and-Place Operations
6. Dynamics of Serial Robotic
Manipulators 7. Special Topics in Rigid-Body Kinematics 8. Kinematics of Complex
Robotic Mechanical Systems 9. Trajectory Planning: 1= Continuous-Path
Operations 10. Dynamics of Complex Robotic Mechanical Systems
商品描述(中文翻譯)
現代機器人學起源於1960年代末,當時微處理器的發展使得多軸機械手臂的電腦控制成為可能。從那時起,機器人學逐漸與科學和工程的許多領域相關聯,並涵蓋了計算機視覺、人工智慧和語音識別等多樣的領域。
本書涵蓋了各種機器人,如遙控機械手臂、多指手、行走機器人、飛行模擬器和機床等,這些機器人依賴機械系統來執行任務。本書旨在建立設計、控制和實施底層機械子系統的基礎。本書假設讀者對微積分、線性代數和基礎力學有一定的了解;然而,剛體力學和線性變換的基本元素在第一章中進行了回顧,使得本書的內容自成一體。書中包含了大量的練習題。
本書涵蓋的主題包括:具有解耦結構的串聯機械手臂的運動學和動力學;軌跡規劃;從點數據中確定剛體的角速度和角加速度;一般串聯和並聯機械手臂的逆運動學和正運動學;平台型並聯機械手臂的動力學;以及滾動機器人的運動學和動力學。
自上一版出版以來,機器人學的應用領域(包括腹腔鏡手術、觸覺技術、製造業,尤其是太空探索)和理論方面(例如,證明Husty的40次多項式確實是最小的,這在上一版中被提到作為一個未解決的問題)都有許多進展。本新版已經在整個內容上進行了修訂和更新,包括這些新進展,並且已經糾正了上一版中的錯誤和不準確之處。
目錄如下:
1. 機器人機械系統概述
2. 數學背景
3. 剛體力學基礎
4. 簡單機械手臂的運動學
5. 軌跡規劃:拾取和放置操作
6. 串聯機械手臂的動力學
7. 剛體運動學的特殊主題
8. 複雜機械系統的運動學
9. 軌跡規劃:連續路徑操作
10. 複雜機械系統的動力學