Introduction to robotics : mechanics and
✍ Craig, John J.
📂 Library
📅 2014
🏛 Pearson Higher Education
🌐 English
✦ LIBER ✦
📁
Introduction to robotics : mechanics and control
✍ Scribed by John J Craig
- Publisher
- Pearson/Prentice Hall
- Year
- 2005
- Tongue
- English
- Leaves
- 408
- Edition
- 3ed.
- Category
- Library
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✦ Synopsis
Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics. Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces -- Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force conrol of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises
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<p>本书系统讲解了机器人学的理论知识，主要内容包括：空间位姿的描述和变换、操作臂的正运动学和逆运动学、操作臂的雅可比、操作臂动力学、轨迹规划、操作臂的机构设计、操作臂的线性和非线性控制、操作臂的力控制、机器人编程语言和离线编程。此外，各章末包括不同难度的习题、编程练习和MATLAB练习。本书可作为高等院校相关专业的教材和参考书，也可供相关技术人员参考。</p>