| 000 | 03273nam a2200469 i 4500 | ||
|---|---|---|---|
| 001 | 6267451 | ||
| 003 | IEEE | ||
| 005 | 20220712204709.0 | ||
| 006 | m o d | ||
| 007 | cr |n||||||||| | ||
| 008 | 151223s2003 maua ob 001 eng d | ||
| 020 |
_z9780262514583 _qprint |
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| 020 |
_a9780262286541 _qelectronic |
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| 020 |
_z0262286548 _qelectronic |
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| 035 | _a(CaBNVSL)mat06267451 | ||
| 035 | _a(IDAMS)0b000064818b446f | ||
| 040 |
_aCaBNVSL _beng _erda _cCaBNVSL _dCaBNVSL |
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| 041 | 1 |
_aeng _hjpn |
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| 050 | 4 |
_aTJ211 _b.Y6713 1990eb |
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| 100 | 1 |
_aYoshikawa, Tsuneo, _d1941- _922883 |
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| 240 | 1 | 0 |
_aRobotto seigyo kisoron. _lEnglish |
| 245 | 1 | 0 |
_aFoundations of robotics : _banalysis and control / _cTsuneo Yoshikawa. |
| 264 | 1 |
_aCambridge, Massachusetts : _bMIT Press, _cc1990. |
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| 264 | 2 |
_a[Piscataqay, New Jersey] : _bIEEE Xplore, _c[2003] |
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| 300 |
_a1 PDF (x, 285 pages) : _billustrations. |
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| 336 |
_atext _2rdacontent |
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| 337 |
_aelectronic _2isbdmedia |
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| 338 |
_aonline resource _2rdacarrier |
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| 504 | _aIncludes bibliographical references and index. | ||
| 506 | 1 | _aRestricted to subscribers or individual electronic text purchasers. | |
| 520 | _aFoundations 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.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering. | ||
| 530 | _aAlso available in print. | ||
| 538 | _aMode of access: World Wide Web | ||
| 588 | _aDescription based on PDF viewed 12/23/2015. | ||
| 650 | 0 |
_aRobotics. _92393 |
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| 655 | 0 |
_aElectronic books. _93294 |
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| 710 | 2 |
_aIEEE Xplore (Online Service), _edistributor. _922884 |
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| 710 | 2 |
_aMIT Press, _epublisher. _922885 |
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| 776 | 0 | 8 |
_iPrint version _z9780262514583 |
| 856 | 4 | 2 |
_3Abstract with links to resource _uhttps://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=6267451 |
| 942 | _cEBK | ||
| 999 |
_c73105 _d73105 |
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