Fundamentals of robotic mechanical systems: theory, methods, and algorithms
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York, NY [u.a.]
Springer
2007
|
| Ausgabe: | 3. ed. |
| Schriftenreihe: | Mechanical engineering series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XXIV, 549 S. Ill., graph. Darst. 1 CD-ROM (12 cm) |
| ISBN: | 0387294120 9780387294124 |
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| 245 | 1 | 0 | |a Fundamentals of robotic mechanical systems |b theory, methods, and algorithms |c Jorge Angeles |
| 250 | |a 3. ed. | ||
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| adam_text | JORGE ANGELES FUNDAMENTALS OF ROBOTIC MECHANICAL SYSTEMS THEORY,
METHODS, AND ALGORITHMS THIRD EDITION 4Y SPRINGER CONTENTS PREFACE TO
THE THIRD EDITION XV PREFACE TO THE FIRST EDITION XIX 1 AN OVERVIEW OF
ROBOTIC MECHANICAL SYSTEMS 1 1.1 INTRODUCTION 1 1.2 THE GENERAL
ARCHITECTURE OF ROBOTIC MECHANICAL SYSTEMS . . . . 3 1.2.1 TYPES OF
ROBOTS BY FUNCTION 6 1.2.2 TYPES OF ROBOTS BY SIZE 7 1.2.3 TYPES OF
ROBOTS BY APPLICATION 7 1.3 MANIPULATORS 7 1.3.1 ROBOTIC ARMS 9 1.3.2
ROBOTIC HANDS 10 1.4 MOTION GENERATORS 12 1.4.1 PARALLEL ROBOTS 12 1.4.2
SCARA SYSTEMS 16 1.5 LOCOMOTORS ....., 17 1.5.1 LEGGED ROBOTS .,. .
. . 17 1.5.2 WHEELED ROBOTS ..... , 19 1.6 SWIMMING ROBOTS ..**-...
: 22 1.7 FLYING ROBOTS . . . V 23 1.8 EXERCISES .- . !**. 24 - Y 2
MATHEMATICAL BACKGROUND - 27 2.1 PREAMBLE 27 2.2 LINEAR TRANSFORMATIONS
28 2.3 RIGID-BODY ROTATIONS 33 2.3.1 THE CROSS-PRODUCT MATRIX 36 2.3.2
THE ROTATION MATRIX 38 2.3.3 THE LINEAR INVARIANTS OF A 3 X 3 MATRIX 42
2.3.4 THE LINEAR INVARIANTS OF A ROTATION 43 2.3.5 EXAMPLES 45 2.3.6 THE
EULER-RODRIGUES PARAMETERS 51 2.4 COMPOSITION OF REFLECTIONS AND
ROTATIONS 54 X . CONTENTS 2.B COORDINATE TRANSFORMATIONS AND HOMOGENEOUS
COORDINATES ... 56 2.5.1 COORDINATE TRANSFORMATIONS BETWEEN FRAMES WITH
A COMMON ORIGIN 56 2.5.2 COORDINATE TRANSFORMATION WITH ORIGIN SHIFT 60
2.5.3 HOMOGENEOUS COORDINATES 62 2.6 SIMILARITY TRANSFORMATIONS 65 2.7
INVARIANCE CONCEPTS 71 2.7.1 APPLICATIONS TO REDUNDANT SENSING 75 2.8
EXERCISES 79 3 FUNDAMENTALS OF RIGID-BODY MECHANICS 89 3.1 INTRODUCTION
89 3.2 GENERAL RIGID-BODY MOTION AND ITS ASSOCIATED SCREW 89 3.2.1 THE
SCREW OF A RIGID-BODY MOTION 93 3.2.2 THE PLUCKER COORDINATES OF A LINE
95 3.2.3 THE POSE OF A RIGID BODY 98 3.3 ROTATION OF A RIGID BODY ABOUT
A FIXED POINT 102 3.4 GENERAL INSTANTANEOUS MOTION OF A RIGID BODY 103
3.4.1 THE INSTANT SCREW OF A RIGID-BODY MOTION 104 3.4.2 THE TWIST OF A
RIGID BODY 107 3.5 ACCELERATION ANALYSIS OF RIGID-BODY MOTIONS 110 3.6
RIGID-BODY MOTION REFERRED TO MOVING COORDINATE AXES 112 3.7 STATIC
ANALYSIS OF RIGID BODIES 114 3.8 DYNAMICS OF RIGID BODIES 118 3.9
EXERCISES 122 4 GEOMETRY OF DECOUPLED SERIAL ROBOTS 129 4.1 INTRODUCTION
129 4.2 THE DENAVIT-HARTENBERG NOTATION .......;.,.... 129 4.3 THE
GEOMETRIC MODEL OF SIX-REVOLUTE MANIPULATORS . 138 4.4 THE INVERSE
DISPLACEMENT ANALYSIS OF DECOUPLED MANIPULATORS . 141 4.4.1 THE
POSITIONING PROBLEM .-*. ... 142 4.4.2 THE ORIENTATION PROBLEM
.-. :-,.... 157 4.5 EXERCISES -* -V- 162 5 KINETOSTATICS OF SERIAL
ROBOTS 167 5.1 INTRODUCTION 167 5.2 VELOCITY ANALYSIS OF SERIAL
MANIPULATORS 168 5.3 JACOBIAN EVALUATION 175 5.3.1 EVALUATION OF
SUBMATRIX A 175 5.3.2 EVALUATION OF SUBMATRIX B 178 5.4 SINGULARITY
ANALYSIS OF DECOUPLED MANIPULATORS 180 5.4.1 MANIPULATOR WORKSPACE 182
5.5 ACCELERATION ANALYSIS OF SERIAL MANIPULATORS 186 5.6 STATIC ANALYSIS
OF SERIAL MANIPULATORS 190 5.7 PLANAR MANIPULATORS 192 CONTENTS XI 5.7.1
DISPLACEMENT ANALYSIS 193 5.7.2 VELOCITY ANALYSIS 195 5.7.3 ACCELERATION
ANALYSIS 198 5.7.4 STATIC ANALYSIS 199 5.8 KINETOSTATIC PERFORMANCE
INDICES 201 5.8.1 POSITIONING MANIPULATORS 207 5.8.2 ORIENTING
MANIPULATORS 210 5.8.3 POSITIONING AND ORIENTING MANIPULATORS 211 5.8.4
COMPUTATION OF THE CHARACTERISTIC LENGTH: APPLICATIONS TO PERFORMANCE
EVALUATION 218 5.9 EXERCISES 227 6 TRAJECTORY PLANNING: PICK-AND-PLACE
OPERATIONS 233 6.1 INTRODUCTION 233 6.2 BACKGROUND ON PPO 234 6.3
POLYNOMIAL INTERPOLATION 236 6.3.1 A 3-4-5 INTERPOLATING POLYNOMIAL 236
6.3.2 A 4-5-6-7 INTERPOLATING POLYNOMIAL 240 6.4 CYCLOIDAL MOTION 243
6.5 TRAJECTORIES WITH VIA POSES 245 6.6 SYNTHESIS OF PPO USING CUBIC
SPLINES 246 6.7 EXERCISES 252 7 DYNAMICS OF SERIAL ROBOTIC MANIPULATORS
257 7.1 INTRODUCTION 257 7.2 INVERSE VS. FORWARD DYNAMICS 257 7.3
FUNDAMENTALS OF MULTIBODY SYSTEM DYNAMICS 259 7.3.1 ON NOMENCLATURE AND
BASIC DEFINITIONS 259 7.3.2 THE EULER-LAGRANGE EQUATIONS OF SERIAL -
MANIPULATORS F J 260 7.3.3 KANE S EQUATIONS . . 7I 268 7.4 RECURSIVE
INVERSE DYNAMICS - 269 7.4.1 KINEMATICS COMPUTATIONS: OUTWARD
RECURSIONS 269 7.4.2 DYNAMICS COMPUTATIONS: INWARD RECURSIONS 275 7.5
THE NATURAL ORTHOGONAL COMPLEMENT IN ROBOT DYNAMICS . . . . 280 7.5.1
DERIVATION OF CONSTRAINT EQUATIONS AND TWIST-SHAPE RELATIONS 285 7.5.2
NONINERTIAL BASE LINK 288 7.6 MANIPULATOR FORWARD DYNAMICS 289 7.6.1
PLANAR MANIPULATORS 293 7.6.2 ALGORITHM COMPLEXITY 306 7.6.3 SIMULATION
310 7.7 INCORPORATION OF GRAVITY INTO THE DYNAMICS EQUATIONS 312 7.8 THE
MODELING OF DISSIPATIVE FORCES 313 7.9 EXERCISES 316 XII CONTENTS 8
SPECIAL TOPICS IN RIGID-BODY KINEMATICS 323 8.1 INTRODUCTION 323 8.2
COMPUTATION OF ANGULAR VELOCITY FROM POINT-VELOCITY DATA . . . 324 8.2.1
A ROBUST FORMULATION 330 8.3 COMPUTATION OF ANGULAR ACCELERATION FROM
POINT-ACCELERATION DATA 331 8.3.1 A ROBUST FORMULATION 337 8.4 EXERCISES
339 9 GEOMETRY OF GENERAL SERIAL ROBOTS 343 9.1 INTRODUCTION 343 9.2 THE
IDP OF GENERAL SIX-REVOLUTE MANIPULATORS 344 9.2.1 PRELIMINARIES 345
9.2.2 DERIVATION OF THE FUNDAMENTAL CLOSURE EQUATIONS .... 349 9.3 THE
UNIVARIATE-POLYNOMIAL APPROACH 357 9.3.1 THE RAGHAVAN-ROTH PROCEDURE 357
9.3.2 THE LI-WOERNLE-HILLER PROCEDURE 364 9.4 THE BIVARIATE-EQUATION
APPROACH 367 9.4.1 NUMERICAL CONDITIONING OF THE SOLUTIONS 369 9.5
IMPLEMENTATION OF THE SOLUTION METHOD 370 9.6 COMPUTATION OF THE
REMAINING JOINT ANGLES 371 9.6.1 THE RAGHAVAN-ROTH PROCEDURE 372 9.6.2
THE LI-WOERNLE-HILLER PROCEDURE 373 9.6.3 THE BIVARIATE-EQUATION
APPROACH 374 9.7 EXAMPLES 375 9.8 EXERCISES 384 10 KINEMATICS OF
ALTERNATIVE ROBOTIC MECHANICAL SYSTEMS 387 10.1 INTRODUCTION /
* -R.......... 387 10.2 KINEMATICS OF PARALLEL MANIPULATORS. *J . . . .
388 10.2.1 VELOCITY AND ACCELERATION ANALYSES OF PARALLEL MANIPULATORS .
. . . : .-.. . . . 401 10.3 MULTIFINGERED HANDS .1 ... 408 10.4 WALKING
MACHINES . .Y 413 10.5 ROLLING ROBOTS . 416 10.5.1 ROBOTS WITH
CONVENTIONAL WHEELS 417 10.5.2 ROBOTS WITH OMNIDIRECTIONAL WHEELS 422
10.6 EXERCISES 426 11 TRAJECTORY PLANNING: CONTINUOUS-PATH OPERATIONS
429 11.1 INTRODUCTION 429 11.2 CURVE GEOMETRY 430 11.3 PARAMETRIC PATH
REPRESENTATION 435 11.4 PARAMETRIC SPLINES IN TRAJECTORY PLANNING 449
11.5 CONTINUOUS-PATH TRACKING 454 11.6 EXERCISES 463 CONTENTS XIII 12
DYNAMICS OF COMPLEX ROBOTIC MECHANICAL SYSTEMS 469 12.1 INTRODUCTION 469
12.2 CLASSIFICATION OF ROBOTIC MECHANICAL SYSTEMS WITH REGARD TO DY-
NAMICS 470 12.3 THE STRUCTURE OF THE DYNAMICS MODELS OF HOLONOMIC
SYSTEMS . . 471 12.4 DYNAMICS OF PARALLEL MANIPULATORS 474 12.5 DYNAMICS
OF ROLLING ROBOTS 484 12.5.1 ROBOTS WITH CONVENTIONAL WHEELS 485 12.5.2
ROBOTS WITH OMNIDIRECTIONAL WHEELS 493 12.6 EXERCISES 502 A KINEMATICS
OF ROTATIONS: A SUMMARY 507 B NUMERICAL EQUATION-SOLVING 513 B.I THE
OVERDETERMINED LINEAR CASE 514 B.I.I THE NUMERICAL SOLUTION OF AN
OVERDETERMINED SYSTEM OF LINEAR EQUATIONS 515 B.2 THE UNDERDETERMINED
LINEAR CASE 519 B.2.1 THE NUMERICAL SOLUTION OF AN UNDERDETERMINED
SYSTEM OF LINEAR EQUATIONS 520 B.3 NONLINEAR-EQUATION SOLVING: THE
DETERMINED CASE 521 B.3.1 THE NEWTON-RAPHSON METHOD 522 B.4
OVERDETERMINED NONLINEAR SYSTEMS OF EQUATIONS 524 B.4.1 THE NEWTON-GAUSS
METHOD 525 B.4.2 CONVERGENCE CRITERION 525 I REFERENCES 529 INDEX 543
|
| adam_txt |
JORGE ANGELES FUNDAMENTALS OF ROBOTIC MECHANICAL SYSTEMS THEORY,
METHODS, AND ALGORITHMS THIRD EDITION 4Y SPRINGER CONTENTS PREFACE TO
THE THIRD EDITION XV PREFACE TO THE FIRST EDITION XIX 1 AN OVERVIEW OF
ROBOTIC MECHANICAL SYSTEMS 1 1.1 INTRODUCTION 1 1.2 THE GENERAL
ARCHITECTURE OF ROBOTIC MECHANICAL SYSTEMS . . . . 3 1.2.1 TYPES OF
ROBOTS BY FUNCTION 6 1.2.2 TYPES OF ROBOTS BY SIZE 7 1.2.3 TYPES OF
ROBOTS BY APPLICATION 7 1.3 MANIPULATORS 7 1.3.1 ROBOTIC ARMS 9 1.3.2
ROBOTIC HANDS 10 1.4 MOTION GENERATORS 12 1.4.1 PARALLEL ROBOTS 12 1.4.2
SCARA SYSTEMS 16 1.5 LOCOMOTORS ., 17 1.5.1 LEGGED ROBOTS '.,.' .
. .' 17 1.5.2 WHEELED ROBOTS .'' , 19 1.6 SWIMMING ROBOTS .**-.'
: 22 1.7 FLYING ROBOTS . . . V' 23 1.8 EXERCISES .- . '!**. 24 - Y 2
MATHEMATICAL BACKGROUND" - 27 2.1 PREAMBLE 27 2.2 LINEAR TRANSFORMATIONS
28 2.3 RIGID-BODY ROTATIONS 33 2.3.1 THE CROSS-PRODUCT MATRIX 36 2.3.2
THE ROTATION MATRIX 38 2.3.3 THE LINEAR INVARIANTS OF A 3 X 3 MATRIX 42
2.3.4 THE LINEAR INVARIANTS OF A ROTATION 43 2.3.5 EXAMPLES 45 2.3.6 THE
EULER-RODRIGUES PARAMETERS 51 2.4 COMPOSITION OF REFLECTIONS AND
ROTATIONS 54 X . CONTENTS 2.B COORDINATE TRANSFORMATIONS AND HOMOGENEOUS
COORDINATES . 56 2.5.1 COORDINATE TRANSFORMATIONS BETWEEN FRAMES WITH
A COMMON ORIGIN 56 2.5.2 COORDINATE TRANSFORMATION WITH ORIGIN SHIFT 60
2.5.3 HOMOGENEOUS COORDINATES 62 2.6 SIMILARITY TRANSFORMATIONS 65 2.7
INVARIANCE CONCEPTS 71 2.7.1 APPLICATIONS TO REDUNDANT SENSING 75 2.8
EXERCISES 79 3 FUNDAMENTALS OF RIGID-BODY MECHANICS 89 3.1 INTRODUCTION
89 3.2 GENERAL RIGID-BODY MOTION AND ITS ASSOCIATED SCREW 89 3.2.1 THE
SCREW OF A RIGID-BODY MOTION 93 3.2.2 THE PLUCKER COORDINATES OF A LINE
95 3.2.3 THE POSE OF A RIGID BODY 98 3.3 ROTATION OF A RIGID BODY ABOUT
A FIXED POINT 102 3.4 GENERAL INSTANTANEOUS MOTION OF A RIGID BODY 103
3.4.1 THE INSTANT SCREW OF A RIGID-BODY MOTION 104 3.4.2 THE TWIST OF A
RIGID BODY 107 3.5 ACCELERATION ANALYSIS OF RIGID-BODY MOTIONS 110 3.6
RIGID-BODY MOTION REFERRED TO MOVING COORDINATE AXES 112 3.7 STATIC
ANALYSIS OF RIGID BODIES 114 3.8 DYNAMICS OF RIGID BODIES 118 3.9
EXERCISES 122 4 GEOMETRY OF DECOUPLED SERIAL ROBOTS 129 4.1 INTRODUCTION
129 4.2 THE DENAVIT-HARTENBERG NOTATION .;.,. 129 4.3 THE
GEOMETRIC MODEL OF SIX-REVOLUTE MANIPULATORS . 138 4.4 THE INVERSE
DISPLACEMENT ANALYSIS OF DECOUPLED MANIPULATORS . 141 4.4.1 THE
POSITIONING PROBLEM .-*. . 142 4.4.2 THE ORIENTATION PROBLEM
.-.':-,. 157 4.5 EXERCISES -* -V- 162 5 KINETOSTATICS OF SERIAL
ROBOTS 167 5.1 INTRODUCTION 167 5.2 VELOCITY ANALYSIS OF SERIAL
MANIPULATORS 168 5.3 JACOBIAN EVALUATION 175 5.3.1 EVALUATION OF
SUBMATRIX A 175 5.3.2 EVALUATION OF SUBMATRIX B 178 5.4 SINGULARITY
ANALYSIS OF DECOUPLED MANIPULATORS 180 5.4.1 MANIPULATOR WORKSPACE 182
5.5 ACCELERATION ANALYSIS OF SERIAL MANIPULATORS 186 5.6 STATIC ANALYSIS
OF SERIAL MANIPULATORS 190 5.7 PLANAR MANIPULATORS 192 CONTENTS XI 5.7.1
DISPLACEMENT ANALYSIS 193 5.7.2 VELOCITY ANALYSIS 195 5.7.3 ACCELERATION
ANALYSIS 198 5.7.4 STATIC ANALYSIS 199 5.8 KINETOSTATIC PERFORMANCE
INDICES 201 5.8.1 POSITIONING MANIPULATORS 207 5.8.2 ORIENTING
MANIPULATORS 210 5.8.3 POSITIONING AND ORIENTING MANIPULATORS 211 5.8.4
COMPUTATION OF THE CHARACTERISTIC LENGTH: APPLICATIONS TO PERFORMANCE
EVALUATION 218 5.9 EXERCISES 227 6 TRAJECTORY PLANNING: PICK-AND-PLACE
OPERATIONS 233 6.1 INTRODUCTION 233 6.2 BACKGROUND ON PPO 234 6.3
POLYNOMIAL INTERPOLATION 236 6.3.1 A 3-4-5 INTERPOLATING POLYNOMIAL 236
6.3.2 A 4-5-6-7 INTERPOLATING POLYNOMIAL 240 6.4 CYCLOIDAL MOTION 243
6.5 TRAJECTORIES WITH VIA POSES 245 6.6 SYNTHESIS OF PPO USING CUBIC
SPLINES 246 6.7 EXERCISES 252 7 DYNAMICS OF SERIAL ROBOTIC MANIPULATORS
257 7.1 INTRODUCTION 257 7.2 INVERSE VS. FORWARD DYNAMICS 257 7.3
FUNDAMENTALS OF MULTIBODY SYSTEM DYNAMICS 259 7.3.1 ON NOMENCLATURE AND
BASIC DEFINITIONS 259 7.3.2 THE EULER-LAGRANGE EQUATIONS OF SERIAL -\
MANIPULATORS F \J 260 7.3.3 KANE'S EQUATIONS . .' 7I 268 7.4 RECURSIVE
INVERSE DYNAMICS - 269 7.4.1 KINEMATICS COMPUTATIONS: OUTWARD
RECURSIONS 269 7.4.2 DYNAMICS COMPUTATIONS: INWARD RECURSIONS 275 7.5
THE NATURAL ORTHOGONAL'COMPLEMENT IN ROBOT DYNAMICS . . . . 280 7.5.1
DERIVATION OF CONSTRAINT EQUATIONS AND TWIST-SHAPE RELATIONS 285 7.5.2
NONINERTIAL BASE LINK 288 7.6 MANIPULATOR FORWARD DYNAMICS 289 7.6.1
PLANAR MANIPULATORS 293 7.6.2 ALGORITHM COMPLEXITY 306 7.6.3 SIMULATION
310 7.7 INCORPORATION OF GRAVITY INTO THE DYNAMICS EQUATIONS 312 7.8 THE
MODELING OF DISSIPATIVE FORCES 313 7.9 EXERCISES 316 XII CONTENTS 8
SPECIAL TOPICS IN RIGID-BODY KINEMATICS 323 8.1 INTRODUCTION 323 8.2
COMPUTATION OF ANGULAR VELOCITY FROM POINT-VELOCITY DATA . . . 324 8.2.1
A ROBUST FORMULATION 330 8.3 COMPUTATION OF ANGULAR ACCELERATION FROM
POINT-ACCELERATION DATA 331 8.3.1 A ROBUST FORMULATION 337 8.4 EXERCISES
339 9 GEOMETRY OF GENERAL SERIAL ROBOTS 343 9.1 INTRODUCTION 343 9.2 THE
IDP OF GENERAL SIX-REVOLUTE MANIPULATORS 344 9.2.1 PRELIMINARIES 345
9.2.2 DERIVATION OF THE FUNDAMENTAL CLOSURE EQUATIONS . 349 9.3 THE
UNIVARIATE-POLYNOMIAL APPROACH 357 9.3.1 THE RAGHAVAN-ROTH PROCEDURE 357
9.3.2 THE LI-WOERNLE-HILLER PROCEDURE 364 9.4 THE BIVARIATE-EQUATION
APPROACH 367 9.4.1 NUMERICAL CONDITIONING OF THE SOLUTIONS 369 9.5
IMPLEMENTATION OF THE SOLUTION METHOD 370 9.6 COMPUTATION OF THE
REMAINING JOINT ANGLES 371 9.6.1 THE RAGHAVAN-ROTH PROCEDURE 372 9.6.2
THE LI-WOERNLE-HILLER PROCEDURE 373 9.6.3 THE BIVARIATE-EQUATION
APPROACH 374 9.7 EXAMPLES 375 9.8 EXERCISES 384 10 KINEMATICS OF
ALTERNATIVE ROBOTIC MECHANICAL SYSTEMS 387 10.1 INTRODUCTION /
*'-R. 387 10.2 KINEMATICS OF PARALLEL MANIPULATORS. *J . . . .
388 10.2.1 VELOCITY AND ACCELERATION ANALYSES OF PARALLEL MANIPULATORS .
. . . : '.-. . . . 401 10.3 MULTIFINGERED HANDS .1 . 408 10.4 WALKING
MACHINES '. .Y 413 10.5 ROLLING ROBOTS .' 416 10.5.1 ROBOTS WITH
CONVENTIONAL WHEELS 417 10.5.2 ROBOTS WITH OMNIDIRECTIONAL WHEELS 422
10.6 EXERCISES 426 11 TRAJECTORY PLANNING: CONTINUOUS-PATH OPERATIONS
429 11.1 INTRODUCTION 429 11.2 CURVE GEOMETRY 430 11.3 PARAMETRIC PATH
REPRESENTATION 435 11.4 PARAMETRIC SPLINES IN TRAJECTORY PLANNING 449
11.5 CONTINUOUS-PATH TRACKING 454 11.6 EXERCISES 463 CONTENTS XIII 12
DYNAMICS OF COMPLEX ROBOTIC MECHANICAL SYSTEMS 469 12.1 INTRODUCTION 469
12.2 CLASSIFICATION OF ROBOTIC MECHANICAL SYSTEMS WITH REGARD TO DY-
NAMICS 470 12.3 THE STRUCTURE OF THE DYNAMICS MODELS OF HOLONOMIC
SYSTEMS . . 471 12.4 DYNAMICS OF PARALLEL MANIPULATORS 474 12.5 DYNAMICS
OF ROLLING ROBOTS 484 12.5.1 ROBOTS WITH CONVENTIONAL WHEELS 485 12.5.2
ROBOTS WITH OMNIDIRECTIONAL WHEELS 493 12.6 EXERCISES 502 A KINEMATICS
OF ROTATIONS: A SUMMARY 507 B NUMERICAL EQUATION-SOLVING 513 B.I THE
OVERDETERMINED LINEAR CASE 514 B.I.I THE NUMERICAL SOLUTION OF AN
OVERDETERMINED SYSTEM OF LINEAR EQUATIONS 515 B.2 THE UNDERDETERMINED
LINEAR CASE 519 B.2.1 THE NUMERICAL SOLUTION OF AN UNDERDETERMINED
SYSTEM OF LINEAR EQUATIONS 520 B.3 NONLINEAR-EQUATION SOLVING: THE
DETERMINED CASE 521 B.3.1 THE NEWTON-RAPHSON METHOD 522 B.4
OVERDETERMINED NONLINEAR SYSTEMS OF EQUATIONS 524 B.4.1 THE NEWTON-GAUSS
METHOD 525 B.4.2 CONVERGENCE CRITERION 525 I REFERENCES 529 INDEX 543 |
| any_adam_object | 1 |
| any_adam_object_boolean | 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 | BV022391227 |
| 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)79623011 (DE-599)BVBBV022391227 |
| 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 |
| discipline_str_mv | Informatik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 3. ed. |
| format | Book |
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| id | DE-604.BV022391227 |
| illustrated | Illustrated |
| index_date | 2024-07-02T17:14:52Z |
| indexdate | 2024-07-09T20:56:35Z |
| institution | BVB |
| isbn | 0387294120 9780387294124 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-015600058 |
| oclc_num | 79623011 |
| open_access_boolean | |
| owner | DE-860 DE-91G DE-BY-TUM DE-83 DE-861 DE-20 DE-739 |
| owner_facet | DE-860 DE-91G DE-BY-TUM DE-83 DE-861 DE-20 DE-739 |
| physical | XXIV, 549 S. Ill., graph. Darst. 1 CD-ROM (12 cm) |
| publishDate | 2007 |
| publishDateSearch | 2007 |
| publishDateSort | 2007 |
| 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 3. ed. New York, NY [u.a.] Springer 2007 XXIV, 549 S. Ill., graph. Darst. 1 CD-ROM (12 cm) 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 Erscheint auch als Online-Ausgabe 0-387-34580-9 HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015600058&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_exact_search_txtP | 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=015600058&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT angelesjorge fundamentalsofroboticmechanicalsystemstheorymethodsandalgorithms |