Fundamentals of Robotic Mechanical Systems
Tim Kasse
- 出版商: Demos Medical Publis
- 出版日期: 2002-10-16
- 售價: $1,250
- 貴賓價: 9.8 折 $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
下單後立即進貨 (約5~7天)
買這商品的人也買了...
-
$980$960 -
$650$553 -
$980$833 -
$1,000$980 -
$480$408 -
$680$578 -
$650$553 -
$500$425 -
$650$507 -
$1,000$950 -
$900$711 -
$690$538 -
$620$527 -
$560$476 -
$1,100$1,045 -
$480$379 -
$890$703 -
$2,700$2,565 -
$1,470$1,397 -
$1,760$1,672 -
$1,120$1,098 -
$1,600$1,520 -
$5,840$5,548 -
$680$578 -
$1,240Robot Modeling & Kinematics (Hardcover)
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