Fundamentals of robotic mechanical systems: theory, methods, and algorithms
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York, NY [u.a.]
Springer
2003
|
| Ausgabe: | 2. ed. |
| Schriftenreihe: | Mechanical engineering series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XXIII, 521 S. Ill., graph. Darst. |
| ISBN: | 038795368X |
Internformat
MARC
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| 100 | 1 | |a Angeles, Jorge |d 1953- |e Verfasser |0 (DE-588)118107852 |4 aut | |
| 245 | 1 | 0 | |a Fundamentals of robotic mechanical systems |b theory, methods, and algorithms |c Jorge Angeles |
| 250 | |a 2. ed. | ||
| 264 | 1 | |a New York, NY [u.a.] |b Springer |c 2003 | |
| 300 | |a XXIII, 521 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Mechanical engineering series | |
| 650 | 4 | |a Robotics | |
| 650 | 0 | 7 | |a Mechanisches System |0 (DE-588)4132811-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Robotik |0 (DE-588)4261462-4 |2 gnd |9 rswk-swf |
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| 689 | 0 | 1 | |a Mechanisches System |0 (DE-588)4132811-5 |D s |
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| 689 | 1 | 0 | |a Industrieroboter |0 (DE-588)4026861-5 |D s |
| 689 | 1 | |5 DE-604 | |
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| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-010084747 | |
Datensatz im Suchindex
| _version_ | 1809774073393184768 |
|---|---|
| adam_text |
CONTENTS
SERIES
PREFACE
VII
PREFACE
TO
THE
SECOND
EDITION
IX
PREFACE
TO
THE
FIRST
EDITION
XI
1
AN
OVERVIEW
OF
ROBOTIC
MECHANICAL
SYSTEMS
1
1.1
INTRODUCTION
.
1
1.2
THE
GENERAL
STRUCTURE
OF
ROBOTIC
MECHANICAL
SYSTEMS
.
3
1.3
SERIAL
MANIPULATORS
.
6
1.4
PARALLEL
MANIPULATORS
.
8
1.5
ROBOTIC
HANDS
.
11
1.6
WALKING
MACHINES
.
13
1.7
ROLLING
ROBOTS
.
15
2
MATHEMATICAL
BACKGROUND
19
2.1
PREAMBLE
.
19
2.2
LINEAR
TRANSFORMATIONS
.
20
2.3
RIGID-BODY
ROTATIONS
.
25
2.3.1
THE
CROSS-PRODUCT
MATRIX
.
28
2.3.2
THE
ROTATION
MATRIX
.
30
2.3.3
THE
LINEAR
INVARIANTS
OF
A
3
X
3
MATRIX
.
34
2.3.4
THE
LINEAR
INVARIANTS
OF
A
ROTATION
.
35
2.3.5
EXAMPLES
.
37
XX
CONTENTS
2.3.6
THE
EULER-RODRIGUES
PARAMETERS
.
43
2.4
COMPOSITION
OF
REFLECTIONS
AND
ROTATIONS
.
47
2.5
COORDINATE
TRANSFORMATIONS
AND
HOMOGENEOUS
COORDINATES
48
2.5.1
COORDINATE
TRANSFORMATIONS
BETWEEN
FRAMES
WITH
A
COMMON
ORIGIN
.
49
2.5.2
COORDINATE
TRANSFORMATION
WITH
ORIGIN
SHIFT
.
52
2.5.3
HOMOGENEOUS
COORDINATES
.
54
2.6
SIMILARITY
TRANSFORMATIONS
.
58
2.7
INVARIANCE
CONCEPTS
.
63
2.7.1
APPLICATIONS
TO
REDUNDANT
SENSING
.
66
3
FUNDAMENTALS
OF
RIGID-BODY
MECHANICS
71
3.1
INTRODUCTION
.
71
3.2
GENERAL
RIGID-BODY
MOTION
AND
ITS
ASSOCIATED
SCREW
.
72
3.2.1
THE
SCREW
OF
A
RIGID-BODY
MOTION
.
74
3.2.2
THE
PLIICKER
COORDINATES
OF
A
LINE
.
76
3.2.3
THE
POSE
OF
A
RIGID
BODY
.
80
3.3
ROTATION
OF
A
RIGID
BODY
ABOUT
A
FIXED
POINT
.
83
3.4
GENERAL
INSTANTANEOUS
MOTION
OF
A
RIGID
BODY
.
84
3.4.1
THE
INSTANT
SCREW
OF
A
RIGID-BODY
MOTION
.
85
3.4.2
THE
TWIST
OF
A
RIGID
BODY
.
88
3.5
ACCELERATION
ANALYSIS
OF
RIGID-BODY
MOTIONS
.
91
3.6
RIGID-BODY
MOTION
REFERRED
TO
MOVING
COORDINATE
AXES
.
.
93
3.7
STATIC
ANALYSIS
OF
RIGID
BODIES
.
95
3.8
DYNAMICS
OF
RIGID
BODIES
.
99
4
KINETOSTATICS
OF
SIMPLE
ROBOTIC
MANIPULATORS
105
4.1
INTRODUCTION
.
105
4.2
THE
DENAVIT-HARTENBERG
NOTATION
.
106
4.3
THE
KINEMATICS
OF
SIX-REVOLUTE
MANIPULATORS
.
113
4.4
THE
IKP
OF
DECOUPLED
MANIPULATORS
.
117
4.4.1
THE
POSITIONING
PROBLEM
.
118
4.4.2
THE
ORIENTATION
PROBLEM
.
133
4.5
VELOCITY
ANALYSIS
OF
SERIAL
MANIPULATORS
.
138
4.5.1
JACOBIAN
EVALUATION
.
145
4.5.2
SINGULARITY
ANALYSIS
OF
DECOUPLED
MANIPULATORS
.
.
.
150
4.5.3
MANIPULATOR
WORKSPACE
.
152
4.6
ACCELERATION
ANALYSIS
OF SERIAL
MANIPULATORS
.
156
4.7
STATIC
ANALYSIS
OF
SERIAL
MANIPULATORS
.
160
4.8
PLANAR
MANIPULATORS
.
162
4.8.1
DISPLACEMENT
ANALYSIS
.
163
4.8.2
VELOCITY
ANALYSIS
.
165
4.8.3
ACCELERATION
ANALYSIS
.
168
4.8.4
STATIC
ANALYSIS
.
170
4.9
KINETOSTATIC
PERFORMANCE
INDICES
.
171
CONTENTS
XXI
4.9.1
POSITIONING
MANIPULATORS
.
176
4.9.2
ORIENTING
MANIPULATORS
.
179
4.9.3
POSITIONING
AND
ORIENTING
MANIPULATORS
.
180
5
TRAJECTORY
PLANNING:
PICK-AND-PLACE
OPERATIONS
189
5.1
INTRODUCTION
.
189
5.2
BACKGROUND
ON
PPO
.
190
5.3
POLYNOMIAL
INTERPOLATION
.
192
5.3.1
A
3-4-5
INTERPOLATING
POLYNOMIAL
.
192
5.3.2
A
4-5-6-7
INTERPOLATING
POLYNOMIAL
.
196
5.4
CYCLOIDAL
MOTION
.
199
5.5
TRAJECTORIES
WITH
VIA
POSES
.
201
5.6
SYNTHESIS
OF
PPO
USING
CUBIC
SPLINES
.
202
6
DYNAMICS
OF
SERIAL
ROBOTIC
MANIPULATORS
211
6.1
INTRODUCTION
.
211
6.2
INVERSE
VS.
FORWARD
DYNAMICS
.
211
6.3
FUNDAMENTALS
OF
MULTIBODY
SYSTEM
DYNAMICS
.
213
6.3.1
ON
NOMENCLATURE
AND
BASIC
DEFINITIONS
.
213
6.3.2
THE
EULER-LAGRANGE
EQUATIONS
OF
SERIAL
MANIPULATORS
.
214
6.3.3
KANE
'
S
EQUATIONS
.
223
6.4
RECURSIVE
INVERSE
DYNAMICS
.
223
6.4.1
KINEMATICS
COMPUTATIONS:
OUTWARD
RECURSIONS
.
.
.
224
6.4.2
DYNAMICS
COMPUTATIONS:
INWARD
RECURSIONS
.
230
6.5
THE
NATURAL
ORTHOGONAL
COMPLEMENT
IN
ROBOT
DYNAMICS
.
234
6.5.1
DERIVATION
OF
CONSTRAINT
EQUATIONS
AND
TWIST-SHAPE
RELATIONS
.
240
6.5.2
NONINERTIAL
BASE
LINK
.
244
6.6
MANIPULATOR
FORWARD
DYNAMICS
.
244
6.6.1
PLANAR
MANIPULATORS
.
248
6.6.2
ALGORITHM
COMPLEXITY
.
261
6.6.3
SIMULATION
.
265
6.7
INCORPORATION
OF
GRAVITY
INTO
THE
DYNAMICS
EQUATIONS
.
.
.
268
6.8
THE
MODELING
OF
DISSIPATIVE
FORCES
.
269
7
SPECIAL
TOPICS
IN
RIGID-BODY
KINEMATICS
273
7.1
INTRODUCTION
.
273
7.2
COMPUTATION
OF
ANGULAR
VELOCITY
FROM
POINT-VELOCITY
DATA
274
7.3
COMPUTATION
OF
ANGULAR
ACCELERATION
FROM
POINT-ACCELERATION
DATA
.
280
8
KINEMATICS
OF
COMPLEX
ROBOTIC
MECHANICAL
SYSTEMS
287
8.1
INTRODUCTION
.
287
8.2
THE
IKP
OF
GENERAL
SIX-REVOLUTE
MANIPULATORS
.
288
XXII
CONTENTS
8.2.1
PRELIMINARIES
.
289
8.2.2
THE
BIVARIATE-EQUATION
APPROACH
.
302
8.2.3
THE
UNIVARIATE-POLYNOMIAL
APPROACH
.
304
8.2.4
NUMERICAL
CONDITIONING
OF
THE
SOLUTIONS
.
313
8.2.5
COMPUTATION
OF
THE
REMAINING
JOINT
ANGLES
.
314
8.2.6
EXAMPLES
.
317
8.3
KINEMATICS
OF
PARALLEL
MANIPULATORS
.
322
8.3.1
VELOCITY
AND
ACCELERATION
ANALYSES
OF
PARALLEL
MANIPULATORS
.
337
8.4
MULTIFINGERED
HANDS
.
343
8.5
WALKING
MACHINES
.
348
8.6
ROLLING
ROBOTS
.
352
8.6.1
ROBOTS
WITH
CONVENTIONAL
WHEELS
.
352
8.6.2
ROBOTS
WITH
OMNIDIRECTIONAL
WHEELS
.
358
9
TRAJECTORY
PLANNING:
CONTINUOUS-PATH
OPERATIONS
363
9.1
INTRODUCTION
.
363
9.2
CURVE
GEOMETRY
.
364
9.3
PARAMETRIC
PATH
REPRESENTATION
.
370
9.4
PARAMETRIC
SPLINES
IN
TRAJECTORY
PLANNING
.
383
9.5
CONTINUOUS-PATH
TRACKING
.
389
10
DYNAMICS
OF
COMPLEX
ROBOTIC
MECHANICAL
SYSTEMS
401
10.1
INTRODUCTION
.
401
10.2
CLASSIFICATION
OF
ROBOTIC
MECHANICAL
SYSTEMS
WITH
REGARD
TO
DYNAMICS
.
402
10.3
THE
STRUCTURE
OF
THE
DYNAMICS
MODELS
OF
HOLONOMIC
SYSTEMS403
10.4
DYNAMICS
OF
PARALLEL
MANIPULATORS
.
406
10.5
DYNAMICS
OF
ROLLING
ROBOTS
.
417
10.5.1
ROBOTS
WITH
CONVENTIONAL
WHEELS
.
417
10.5.2
ROBOTS
WITH
OMNIDIRECTIONAL
WHEELS
.
427
A
KINEMATICS
OF
ROTATIONS:
A
SUMMARY
437
B
THE
NUMERICAL
SOLUTION
OF
LINEAR
ALGEBRAIC
SYSTEMS
445
B.L
THE
OVERDETERMINED
CASE
.
446
B.L.L
THE
NUMERICAL
SOLUTION
OF
AN
OVERDETERMINED
SYSTEM
OF
LINEAR
EQUATIONS
.
447
B.2
THE
UNDER
DETER
MINED
CASE
.
451
B.2.1
THE
NUMERICAL
SOLUTION
OF
AN
UNDER
DETER
MINED
SYSTEM
OF
LINEAR
EQUATIONS
.
452
EXERCISES
455
1
AN
OVERVIEW
OF
ROBOTIC
MECHANICAL
SYSTEMS
.
455
2
MATHEMATICAL
BACKGROUND
.
457
CONTENTS
XXIII
3
FUNDAMENTALS
OF
RIGID-BODY
MECHANICS
.
465
4
KINETOSTATICS
OF
SIMPLE
ROBOTIC
MANIPULATORS
.
471
5
TRAJECTORY
PLANNING:
PICK-AND-PLACE
OPERATIONS
.
478
6
DYNAMICS
OF
SERIAL
ROBOTIC
MANIPULATORS
.
481
7
SPECIAL
TOPICS
ON
RIGID-BODY
KINEMATICS
.
487
8
KINEMATICS
OF
COMPLEX
ROBOTIC
MECHANICAL
SYSTEMS
.
490
9
TRAJECTORY
PLANNING:
CONTINUOUS-PATH
OPERATIONS
.
494
10
DYNAMICS
OF
COMPLEX
ROBOTIC
MECHANICAL
SYSTEMS
.
498
REFERENCES
501
INDEX
515 |
| any_adam_object | 1 |
| author | Angeles, Jorge 1953- |
| author_GND | (DE-588)118107852 |
| author_facet | Angeles, Jorge 1953- |
| author_role | aut |
| author_sort | Angeles, Jorge 1953- |
| author_variant | j a ja |
| building | Verbundindex |
| bvnumber | BV014962987 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211 |
| callnumber-search | TJ211 |
| callnumber-sort | TJ 3211 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ZQ 6250 |
| classification_tum | FER 980f DAT 815f |
| ctrlnum | (OCoLC)635580499 (DE-599)BVBBV014962987 |
| dewey-full | 629.8/92 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/92 |
| dewey-search | 629.8/92 |
| dewey-sort | 3629.8 292 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 2. ed. |
| format | Book |
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| id | DE-604.BV014962987 |
| illustrated | Illustrated |
| indexdate | 2024-09-10T02:24:09Z |
| institution | BVB |
| isbn | 038795368X |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-010084747 |
| oclc_num | 635580499 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-20 DE-703 DE-92 DE-860 DE-573 DE-634 |
| owner_facet | DE-91G DE-BY-TUM DE-20 DE-703 DE-92 DE-860 DE-573 DE-634 |
| physical | XXIII, 521 S. Ill., graph. Darst. |
| publishDate | 2003 |
| publishDateSearch | 2003 |
| publishDateSort | 2003 |
| publisher | Springer |
| record_format | marc |
| series2 | Mechanical engineering series |
| spelling | Angeles, Jorge 1953- Verfasser (DE-588)118107852 aut Fundamentals of robotic mechanical systems theory, methods, and algorithms Jorge Angeles 2. ed. New York, NY [u.a.] Springer 2003 XXIII, 521 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Mechanical engineering series Robotics Mechanisches System (DE-588)4132811-5 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Robotik (DE-588)4261462-4 s Mechanisches System (DE-588)4132811-5 s DE-604 Industrieroboter (DE-588)4026861-5 s DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010084747&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Angeles, Jorge 1953- Fundamentals of robotic mechanical systems theory, methods, and algorithms Robotics Mechanisches System (DE-588)4132811-5 gnd Robotik (DE-588)4261462-4 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4132811-5 (DE-588)4261462-4 (DE-588)4026861-5 |
| title | Fundamentals of robotic mechanical systems theory, methods, and algorithms |
| title_auth | Fundamentals of robotic mechanical systems theory, methods, and algorithms |
| title_exact_search | Fundamentals of robotic mechanical systems theory, methods, and algorithms |
| title_full | Fundamentals of robotic mechanical systems theory, methods, and algorithms Jorge Angeles |
| title_fullStr | Fundamentals of robotic mechanical systems theory, methods, and algorithms Jorge Angeles |
| title_full_unstemmed | Fundamentals of robotic mechanical systems theory, methods, and algorithms Jorge Angeles |
| title_short | Fundamentals of robotic mechanical systems |
| title_sort | fundamentals of robotic mechanical systems theory methods and algorithms |
| title_sub | theory, methods, and algorithms |
| topic | Robotics Mechanisches System (DE-588)4132811-5 gnd Robotik (DE-588)4261462-4 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Robotics Mechanisches System Robotik Industrieroboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010084747&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT angelesjorge fundamentalsofroboticmechanicalsystemstheorymethodsandalgorithms |