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020 _a9781447104490
_9978-1-4471-0449-0
024 7 _a10.1007/978-1-4471-0449-0
_2doi
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aSciavicco, Lorenzo.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_966789
245 1 0 _aModelling and Control of Robot Manipulators
_h[electronic resource] /
_cby Lorenzo Sciavicco, Bruno Siciliano.
250 _a2nd ed. 2000.
264 1 _aLondon :
_bSpringer London :
_bImprint: Springer,
_c2000.
300 _aXXIV, 378 p. 6 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aAdvanced Textbooks in Control and Signal Processing,
_x2510-3814
505 0 _a1. Introduction -- 1.1 Robotics -- 1.2 Industrial Robot -- 1.3 Manipulator Structures -- 1.4 Modelling and Control of Robot Manipulators -- 1.5 Bibliographical Reference Texts -- 2. Kinematics -- 2.1 Position and Orientation of a Rigid Body -- 2.2 Rotation Matrix -- 2.3 Composition of Rotation Matrices -- 2.4 Euler Angles -- 2.5 Angle and Axis -- 2.6 Unit Quaternion -- 2.7 Homogeneous Transformations -- 2.8 Direct Kinematics -- 2.9 Kinematics of Typical Manipulator Structures -- 2.10 Joint Space and Operational Space -- 2.11 Kinematic Calibration -- 2.12 Inverse Kinematics Problem -- 3. Differential Kinematics and Statics -- 3.1 Geometric Jacobian -- 3.2 Jacobian of Typical Manipulator Structures -- 3.3 Kinematic Singularities -- 3.4 Analysis of Redundancy -- 3.5 Differential Kinematics Inversion -- 3.6 Analytical Jacobian -- 3.7 Inverse Kinematics Algorithms -- 3.8 Statics -- 3.9 Manipulability Ellipsoids -- 4. Dynamics -- 4.1 Lagrange Formulation -- 4.2 Notable Properties of Dynamic Model -- 4.3 Dynamic Model of Simple Manipulator Structures -- 4.4 Dynamic Parameter Identification -- 4.5 Newton-Euler Formulation -- 4.6 Direct Dynamics and Inverse Dynamics -- 4.7 Operational Space Dynamic Model -- 4.8 Dynamic Manipulability Ellipsoid -- 5. Trajectory Planning -- 5.1 Path and Trajectory -- 5.2 Joint Space Trajectories -- 5.3 Operational Space Trajectories -- 5.4 Dynamic Scaling of Trajectories -- 6. Motion Control -- 6.1 The Control Problem -- 6.2 Joint Space Control -- 6.3 Independent Joint Control -- 6.4 Computed Torque Feedforward Control -- 6.5 Centralized Control -- 6.6 Operational Space Control -- 6.7 A Comparison Between Various Control Schemes -- 7. Interaction Control -- 7.1 Manipulator Interaction with Environment -- 7.2 Compliance Control -- 7.3 Impedance Control -- 7.4 Force Control -- 7.5 Natural Constraints and Artificial Constraints -- 7.6 Hybrid Force/Position Control -- 8. Actuators and Sensors -- 8.1 Joint Actuating System -- 8.2 Servomotors -- 8.3 Sensors -- 9. Control Architecture -- 9.1 Functional Architecture -- 9.2 Programming Environment -- 9.3 Hardware Architecture -- Appendix A. Linear Algebra -- A.1 Definitions -- A.2 Matrix Operations -- A.3 Vector Operations -- A.4 Linear Transformations -- A.5 Eigenvalues and Eigenvectors -- A.6 Bilinear Forms and Quadratic Forms -- A.7 Pseudo-inverse -- A.8 Singular Value Decomposition -- Appendix B. Rigid Body Mechanics -- B.1 Kinematics -- B.2 Dynamics -- B.3 Work and Energy -- B.4 Constrained Systems -- Appendix C. Feedback Control -- C.1 Control of Single-input/Single-output Linear Systems -- C.2 Control of Nonlinear Mechanical Systems -- C.3 Lyapunov Direct Method.
520 _aFundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space. Technological aspects include actuators, sensors, hardware- and software-control architectures and industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control, and force and motion control are provided. To provide readers with a homogeneous background, three appendices are included on linear algebra, rigid-body mechanics, and feedback control. To impart practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB® code for computer problems; this is available from the publisher free of charge to those adopting this volume as a textbook for courses. "The book has an excellent balance of practical and advanced material (explanations, examples and problems) that take the introductory student to the level that useful research or applications can begin." Wayne Book, Georgia Institute of Technology "Because of its modern treatment and its excellent breadth, "Modelling and Control of Robot Manipulators" is the required text for our core course in the Robotics Ph.D. Program." Matt Mason, Carnegie Mellon University "Sciavicco and Sicilliano’s book achieves a good balance between simplicity and rigour. It is a comprehensive and excellent reference on robotic manipulators, with easy-to-follow notation and figures, lots of examples and a complete bibliography. I strongly recommend it!" Tim Salcudean, University of British Columbia "This is the ultimate reference book in robotics, perfectly balanced between educational scopes and introductory research." Alessandro De Luca, Universita di Roma "La Sapienza".
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aComputer simulation.
_95106
650 0 _aIndustrial Management.
_95847
650 0 _aMechanics, Applied.
_93253
650 1 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aControl and Systems Theory.
_931972
650 2 4 _aComputer Modelling.
_966790
650 2 4 _aIndustrial Management.
_95847
650 2 4 _aEngineering Mechanics.
_931830
700 1 _aSiciliano, Bruno.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_966791
710 2 _aSpringerLink (Online service)
_966792
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9781852332211
776 0 8 _iPrinted edition:
_z9781447104506
830 0 _aAdvanced Textbooks in Control and Signal Processing,
_x2510-3814
_966793
856 4 0 _uhttps://doi.org/10.1007/978-1-4471-0449-0
912 _aZDB-2-ENG
912 _aZDB-2-SXE
912 _aZDB-2-BAE
942 _cETB
999 _c81724
_d81724