Introduction to Robotics: Mechanics & ControlNow in its third edition, Introduction to Robotics by John J. Craig provides readers with real-world practicality with underlying theory presented. With one half of the material from traditional mechanical engineering material, one fourth control theoretical material, and one fourth computer science, the book covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects and programming of robots. For engineers. |
Contents
vi | 53 |
MANIPULATOR KINEMATICS | 60 |
INVERSE MANIPULATOR KINEMATICS | 97 |
Copyright | |
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Common terms and phrases
acceleration actuator angular velocity APBORG applied Atan2 axis calculate Cartesian space center of mass Chapter compute configuration consider control law control scheme control system coordinate system critically damped defined degrees of freedom described desired dynamic equations end-effector errors Euler angles example FIGURE force control friction function given goal frame goal point industrial robots inertia tensor inverse kinematics Jacobian joint angles joint axes joint space joint torques kinematic equations linear link frames link parameters manipulator control manipulator's mechanism Motoman move multiply natural constraints nonlinear notation position and orientation position control position vector problem reference frame representation rigid body robot programming language rotation matrix Section segment sensors servo shown in Fig singularities six degrees solution solve specify spline station frame stiffness subroutine subspace teach pendant tool frame torques trajectory transform two-link variables workcell workspace wrist frame write zero