Recomendar este libro

Imprimir ficha del artículo

Comentarios (0)

Contenido

Solutions Manual to be supplied free of charge to academics adopting this text for courses The ubiquitous employment of robots in industrial and hazardous settings requires a large number of users trained in their application and control The first edition established a wide use among academics as a textbook and this substantially updated edition should prove equally popular. Fundamental and technological topics are uniquely blended and clearly developed 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; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; 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/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire 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 work as a textbook for courses    INDICE: Introduction, Kinematics, Differential Kinematics and Statics, Dynamics, Trajectory Planning, Motion Control, Interaction Control, Actuators and Sensors, Control Architecture, Appendices A-C, Index

Detalles del artículo

• Páginas : 377
• Editorial : Springer
• Idioma : Inglés
• Fecha de Publicación : 01/01/2000
• ISBN: 9781852332211
• Serie: Advanced textbooks in control and signal processin
• Encuadernación : Rústica
• Nº Volúmenes : 1
• Nº Edición : 2
• País de Publicación : Reino Unido (INGLATERRA)
• Lugar de Publicación : London