Modelling and control of robot manipulators:
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London [u.a.]
Springer
2000
|
| Ausgabe: | 2. ed. |
| Schriftenreihe: | Advanced textbooks in control and signal processing
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Hier auch später erschienene, unveränderte Nachdrucke |
| Beschreibung: | XXIII, 378 S. graph. Darst. |
| ISBN: | 1852332212 |
Internformat
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Datensatz im Suchindex
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|---|---|
| adam_text | L. SCIAVICCO AND B. SICILIANO MODELLING AND CONTROL OF ROBOT
MANIPULATORS SECOND EDITION WITH 190 FIGURES SPRINGER TABLE OF CONTENTS
1. INTRODUCTION 1 1.1 ROBOTICS 1 1.2 INDUSTRIAL ROBOT 3 1.3 MANIPULATOR
STRUCTURES 6 1.4 MODELLING AND CONTROL OF ROBOT MANIPULATORS 14 1.4.1
MODELLING 15 1.4.2 CONTROL 15 1.5 BIBLIOGRAPHICAL REFERENCE TEXTS 16 2.
KINEMATICS 21 2.1 POSITION AND ORIENTATION OF A RIGID BODY 21 2.2
ROTATION MATRIX 22 2.2.1 ELEMENTARY ROTATIONS 23 2.2.2 REPRESENTATION OF
A VECTOR 24 2.2.3 ROTATION OF A VECTOR 25 2.3 COMPOSITION OF ROTATION
MATRICES 26 2.4 EULER ANGLES 30 2.4.1 ZYZ ANGLES 30 2.4.2 ROLL-PITCH-YAW
ANGLES 32 2.5 ANGLE AND AXIS 33 2.6 UNIT QUATERNION 35 2.7 HOMOGENEOUS
TRANSFORMATIONS 37 2.8 DIRECT KINEMATICS 39 2.8.1 OPEN CHAIN 41 2.8.2
DENAVIT-HARTENBERG CONVENTION 42 2.8.3 CLOSED CHAIN 46 2.9 KINEMATICS OF
TYPICAL MANIPULATOR STRUCTURES 49 2.9.1 THREE-LINK PLANAR ARM 49 2.9.2
PARALLELOGRAM ARM 51 2.9.3 SPHERICAL ARM 53 2.9.4 ANTHROPOMORPHIC ARM 54
2.9.5 SPHERICAL WRIST 55 2.9.6 STANFORD MANIPULATOR 57 2.9.7
ANTHROPOMORPHIC ARM WITH SPHERICAL WRIST 58 2.10 JOINT SPACE AND
OPERATIONAL SPACE 59 2.10.1 WORKSPACE 61 XX TABLE OF CONTENTS 2.10.2
KINEMATIC REDUNDANCY 63 2.11 KINEMATIC CALIBRATION 64 2.12 INVERSE
KINEMATICS PROBLEM 66 2.12.1 SOLUTION OF THREE-LINK PLANAR ARM 67 2.12.2
SOLUTION OF MANIPULATORS WITH SPHERICAL WRIST 70 2.12.3 SOLUTION OF
SPHERICAL ARM 71 2.12.4 SOLUTION OF ANTHROPOMORPHIC ARM 72 2.12.5
SOLUTION OF SPHERICAL WRIST 73 PROBLEMS 74 BIBLIOGRAPHY 76 3.
DIFFERENTIAL KINEMATICS AND STATICS* 79 3.1 GEOMETRIC JACOBIAN 79 3.1.1
DERIVATIVE OF A ROTATION MATRIX 80 3.1.2 LINK VELOCITY 82 3.1.3 JACOBIAN
COMPUTATION 84 3.2 JACOBIAN OF TYPICAL MANIPULATOR STRUCTURES 87 3.2.1
THREE-LINK PLANAR ARM 87 3.2.2 ANTHROPOMORPHIC ARM 88 3.2.3 STANFORD
MANIPULATOR 89 3.3 KINEMATIC SINGULARITIES 89 3.3.1 SINGULARITY
DECOUPLING 91 3.3.2 WRIST SINGULARITIES 92 3.3.3 ARM SINGULARITIES 92
3.4 ANALYSIS OF REDUNDANCY 94 3.5 DIFFERENTIAL KINEMATICS INVERSION 96
3.5.1 REDUNDANT MANIPULATORS 97 3.5.2 KINEMATIC SINGULARITIES 100 3.6
ANALYTICAL JACOBIAN 100 3.7 INVERSE KINEMATICS ALGORITHMS 104 3.7.1
JACOBIAN (PSEUDO-)INVERSE 105 3.7.2 JACOBIAN TRANSPOSE 106 3.7.3
ORIENTATION ERROR 109 3.7.4 A COMPARISON BETWEEN INVERSE KINEMATICS
ALGORITHMS .. 112 3.8 STATICS 116 3.8.1 KINETO-STATICS DUALITY 118 3.8.2
VELOCITY AND FORCE TRANSFORMATION 119 3.8.3 CLOSED CHAIN 120 3.9
MANIPULABILITY ELLIPSOIDS 121 PROBLEMS 127 BIBLIOGRAPHY 128 4. DYNAMICS
131 4.1 LAGRANGE FORMULATION 131 4.1.1 COMPUTATION OF KINETIC ENERGY 133
4.1.2 COMPUTATION OF POTENTIAL ENERGY 139 4.1.3 EQUATIONS OF MOTION 140
TABLE OF CONTENTS XXI 4.2 NOTABLE PROPERTIES OF DYNAMIC MODEL* 141 4.2.1
SKEW-SYMMETRYOFMATRIXB-2C 142 4.2.2 LINEARITY IN THE DYNAMIC PARAMETERS
143 4.3 DYNAMIC MODEL OF SIMPLE MANIPULATOR STRUCTURES 148 4.3.1
TWO-LINK CARTESIAN ARM 148 4.3.2 TWO-LINK PLANAR ARM 149 4.3.3
PARALLELOGRAM ARM 161 4.4 DYNAMIC PARAMETER IDENTIFICATION* 164 4.5
NEWTON-EULER FORMULATION* 166 4.5.1 LINK ACCELERATION 168 4.5.2
RECURSIVE ALGORITHM 169 4.5.3 EXAMPLE 172 4.6 DIRECT DYNAMICS AND
INVERSE DYNAMICS* 175 4.7 OPERATIONAL SPACE DYNAMIC MODEL* 176 4.8
DYNAMIC MANIPULABILITY ELLIPSOID* 179 PROBLEMS 181 BIBLIOGRAPHY 182 5.
TRAJECTORY PLANNING 185 5.1 PATH AND TRAJECTORY 185 5.2 JOINT SPACE
TRAJECTORIES 186 5.2.1 POINT-TO-POINT MOTION 187 5.2.2 PATH MOTION 192
5.3 OPERATIONAL SPACE TRAJECTORIES 202 5.3.1 PATH PRIMITIVES 203 5.3.2
POSITION 207 5.3.3 ORIENTATION 208 5.4 DYNAMIC SCALING OF TRAJECTORIES
209 PROBLEMS 211 BIBLIOGRAPHY 212 6. MOTION CONTROL 213 6.1 THE CONTROL
PROBLEM 213 6.2 JOINT SPACE CONTROL 215 6.3 INDEPENDENT JOINT CONTROL
217 6.3.1 FEEDBACK CONTROL 218 6.3.2 DECENTRALIZED FEEDFORWARD
COMPENSATION 227 6.4 COMPUTED TORQUE FEEDFORWARD CONTROL 231 6.5
CENTRALIZED CONTROL* 234 6.5.1 PD CONTROL WITH GRAVITY COMPENSATION 236
6.5.2 INVERSE DYNAMICS CONTROL 238 6.5.3 ROBUST CONTROL 240 6.5.4
ADAPTIVE CONTROL 246 6.6 OPERATIONAL SPACE CONTROL* 250 6.6.1 GENERAL
SCHEMES 251 6.6.2 PD CONTROL WITH GRAVITY COMPENSATION 252 6.6.3 INVERSE
DYNAMICS CONTROL 254 XXII TABLE OF CONTENTS 6.7 A COMPARISON BETWEEN
VARIOUS CONTROL SCHEMES* 256 PROBLEMS 263 BIBLIOGRAPHY 268 7.
INTERACTION CONTROL* 271 7.1 MANIPULATOR INTERACTION WITH ENVIRONMENT
271 7.2 COMPLIANCE CONTROL 272 7.3 IMPEDANCE CONTROL 276 7.4 FORCE
CONTROL 280 7.4.1 FORCE CONTROL WITH INNER POSITION LOOP 280 7.4.2 FORCE
CONTROL WITH INNER VELOCITY LOOP 281 7.4.3 PARALLEL FORCE/POSITION
CONTROL 282 7.5 NATURAL CONSTRAINTS AND ARTIFICIAL CONSTRAINTS 285 7.5.1
CASE STUDIES 287 7.6 HYBRID FORCE/POSITION CONTROL 288 PROBLEMS 292
BIBLIOGRAPHY 292 8. ACTUATORS AND SENSORS 295 8.1 JOINT ACTUATING SYSTEM
295 8.1.1 TRANSMISSIONS 296 8.1.2 SERVOMOTORS 297 8.1.3 POWER AMPLIFIERS
299 8.1.4 POWER SUPPLIES 300 8.2 SERVOMOTORS 300 8.2.1 ELECTRIC
SERVOMOTORS 300 8.2.2 HYDRAULIC SERVOMOTORS 304 8.3 SENSORS 307 8.3.1
POSITION TRANSDUCERS 307 8.3.2 VELOCITY TRANSDUCERS 310 8.3.3 FORCE
SENSORS 311 8.3.4 VISION SENSORS 315 PROBLEMS 319 BIBLIOGRAPHY 319 9.
CONTROL ARCHITECTURE 321 9.1 FUNCTIONAL ARCHITECTURE 321 9.2 PROGRAMMING
ENVIRONMENT 326 9.2.1 TEACHING-BY-SHOWING 327 9.2.2 ROBOT-ORIENTED
PROGRAMMING 328 9.3 HARDWARE ARCHITECTURE 329 PROBLEMS 332 BIBLIOGRAPHY
333 APPENDIX A. LINEAR ALGEBRA 335 A.I DEFINITIONS 335 A.2 MATRIX
OPERATIONS 337 TABLE OF CONTENTS XXIII A.3 VECTOR OPERATIONS 341 A.4
LINEAR TRANSFORMATIONS 344 A.5 EIGENVALUES AND EIGENVECTORS 345 A.6
BILINEAR FORMS AND QUADRATIC FORMS 345 A.7 PSEUDO-INVERSE 347 A.8
SINGULAR VALUE DECOMPOSITION 348 BIBLIOGRAPHY 349 APPENDIX B. RIGID BODY
MECHANICS 351 B.I KINEMATICS 351 B.2 DYNAMICS 353 B.3 WORK AND ENERGY
356 B.4 CONSTRAINED SYSTEMS 356 BIBLIOGRAPHY 359 APPENDIX C. FEEDBACK
CONTROL 361 C.I CONTROL OF SINGLE-INPUT/SINGLE-OUTPUTLINEAR SYSTEMS 361
C.2 CONTROL OF NONLINEAR MECHANICAL SYSTEMS 366 C.3 LYAPUNOV DIRECT
METHOD 368 BIBLIOGRAPHY 369 INDEX 371
|
| any_adam_object | 1 |
| author | Sciavicco, Lorenzo 1938- Siciliano, Bruno 1959- |
| author_GND | (DE-588)121631117 (DE-588)115695842 |
| author_facet | Sciavicco, Lorenzo 1938- Siciliano, Bruno 1959- |
| author_role | aut aut |
| author_sort | Sciavicco, Lorenzo 1938- |
| author_variant | l s ls b s bs |
| building | Verbundindex |
| bvnumber | BV013004106 |
| classification_rvk | ZQ 6250 |
| ctrlnum | (OCoLC)632426150 (DE-599)BVBBV013004106 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 2. ed. |
| format | Book |
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| id | DE-604.BV013004106 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:37:36Z |
| institution | BVB |
| isbn | 1852332212 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008862746 |
| oclc_num | 632426150 |
| open_access_boolean | |
| owner | DE-703 DE-1050 DE-859 DE-858 DE-706 DE-523 DE-739 |
| owner_facet | DE-703 DE-1050 DE-859 DE-858 DE-706 DE-523 DE-739 |
| physical | XXIII, 378 S. graph. Darst. |
| publishDate | 2000 |
| publishDateSearch | 2000 |
| publishDateSort | 2000 |
| publisher | Springer |
| record_format | marc |
| series2 | Advanced textbooks in control and signal processing |
| spelling | Sciavicco, Lorenzo 1938- Verfasser (DE-588)121631117 aut Modelling and control of robot manipulators L. Sciavicco and B. Siciliano 2. ed. London [u.a.] Springer 2000 XXIII, 378 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Advanced textbooks in control and signal processing Hier auch später erschienene, unveränderte Nachdrucke Manipuladores (Mecanismo) Robots - Sistemas de control Bahnplanung (DE-588)4267628-9 gnd rswk-swf Kinematik (DE-588)4030664-1 gnd rswk-swf Kontrolle (DE-588)4032312-2 gnd rswk-swf Roboter (DE-588)4050208-9 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Manipulator (DE-588)4037349-6 s Reglerentwurf (DE-588)4177447-4 s DE-604 Bahnplanung (DE-588)4267628-9 s Kinematik (DE-588)4030664-1 s Roboter (DE-588)4050208-9 s Kontrolle (DE-588)4032312-2 s Siciliano, Bruno 1959- Verfasser (DE-588)115695842 aut HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008862746&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Sciavicco, Lorenzo 1938- Siciliano, Bruno 1959- Modelling and control of robot manipulators Manipuladores (Mecanismo) Robots - Sistemas de control Bahnplanung (DE-588)4267628-9 gnd Kinematik (DE-588)4030664-1 gnd Kontrolle (DE-588)4032312-2 gnd Roboter (DE-588)4050208-9 gnd Reglerentwurf (DE-588)4177447-4 gnd Manipulator (DE-588)4037349-6 gnd |
| subject_GND | (DE-588)4267628-9 (DE-588)4030664-1 (DE-588)4032312-2 (DE-588)4050208-9 (DE-588)4177447-4 (DE-588)4037349-6 |
| title | Modelling and control of robot manipulators |
| title_auth | Modelling and control of robot manipulators |
| title_exact_search | Modelling and control of robot manipulators |
| title_full | Modelling and control of robot manipulators L. Sciavicco and B. Siciliano |
| title_fullStr | Modelling and control of robot manipulators L. Sciavicco and B. Siciliano |
| title_full_unstemmed | Modelling and control of robot manipulators L. Sciavicco and B. Siciliano |
| title_short | Modelling and control of robot manipulators |
| title_sort | modelling and control of robot manipulators |
| topic | Manipuladores (Mecanismo) Robots - Sistemas de control Bahnplanung (DE-588)4267628-9 gnd Kinematik (DE-588)4030664-1 gnd Kontrolle (DE-588)4032312-2 gnd Roboter (DE-588)4050208-9 gnd Reglerentwurf (DE-588)4177447-4 gnd Manipulator (DE-588)4037349-6 gnd |
| topic_facet | Manipuladores (Mecanismo) Robots - Sistemas de control Bahnplanung Kinematik Kontrolle Roboter Reglerentwurf Manipulator |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008862746&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT sciaviccolorenzo modellingandcontrolofrobotmanipulators AT sicilianobruno modellingandcontrolofrobotmanipulators |