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Foundations of Robotics: Analysis and Control

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Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. 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. Illustrative examples appear throughout. The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. 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. The final chapter develops the concept of manipulability. The second half focuses on the control of robot manipulators. 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. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.OCLC-licensed vendor bibliographic record.

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Detail Information

Series Title

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Call Number

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Publisher

Cambridge, Massachusetts : The MIT Press., 1990

Collation

1 online resource (x, 285 pages) :illustrations

Language

English

ISBN/ISSN

9780262286541

Classification

NONE

Content Type

text

Media Type

computer

Carrier Type

online resource

Edition

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Subject(s)

Robotics.

Specific Detail Info

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Statement of Responsibility

Tsuneo Yoshikawa

Other Information

Cataloger

heri

Source

https://direct.mit.edu/books/monograph/2840/Foundations-of-RoboticsAnalysis-and-Control

Validator

Kholif Basri

Digital Object Identifier (DOI)

https://doi.org/10.7551/mitpress/3074.001.0001

Journal Volume

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Journal Issue

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Subtitle

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