Foundations of Robotics: Analysis and Control (MIT Press)
| Author | : | |
| Rating | : | 4.98 (592 Votes) |
| Asin | : | 0262514583 |
| Format Type | : | paperback |
| Number of Pages | : | 298 Pages |
| Publish Date | : | 2017-01-04 |
| Language | : | English |
DESCRIPTION:
Robert Vick said Best book I've found for foundations of robotics.. I bought this because I was going through the free iUniv class from Stanford, and it was driving me nuts. What I have to say about the book also applies to that class, but it's easier to skip over the obvious parts of a book. If you have a decent education in math, th
Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. The final chapter develops the concept of manipulability.The second half focuses on the control of robot manipulators. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. He then devotes three chapters to th
About the Author Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.
Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.