Holdings: Theory of applied robotics

Theory of applied robotics: kinematics, dynamics, and control

Abstract:. - http://webdev.openu.ac.il/ouweb/owal/new_books1.book_desc?in_mis_cat=111869.

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Bibliographic Details
Main Author:	Jazar, Reza N. (Author)
Format:	Book
Language:	English
Published:	New York Springer 2007
Subjects:	Robotique Robotique - Problèmes et exercices Robotics Robotics > Problems, exercises, etc Robotik
Online Access:	Table of contents only http://deposit.dnb.de/cgi-bin/dokserv?id=2809066&prov=M&dok_var=1&dok_ext=htm Inhaltsverzeichnis
Summary:	Abstract:. - http://webdev.openu.ac.il/ouweb/owal/new_books1.book_desc?in_mis_cat=111869.
Item Description:	Includes index.
Physical Description:	XXI, 693 S. graph. Darst. 24 cm
ISBN:	0387324755 9780387324753

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245	1	0	\|a Theory of applied robotics \|b kinematics, dynamics, and control \|c Reza N. Jazar
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650		4	\|a Robotique
650		4	\|a Robotique - Problèmes et exercices
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Record in the Search Index

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adam_text	THEORY OF APPLIED ROBOTICS KINEMATICS, DYNAMICS, AND CONTROL REZA N. JAZAR DEPARTMENT OF MECHANICAL ENGINEERING MANHATTAN COLLEGE RIVERDALE, NY FYA SPRINGER INDEX 2R PLANAR MANIPULATOR CONTROL, 652 DH TRANSFORMATION MATRIX, 212 DYNAMICS, 491, 540 EQUATIONS OF MOTION, 494 FORWARD ACCELERATION, 439 IDEAL, 491 INVERSE ACCELERATION, 441 INVERSE KINEMATICS, 281, 286, 399 INVERSE VELOCITY, 366, 368 JACOBIAN MATRIX, 350, 352 JOINT 2 ACCELERATION, 433 JOINT PATH, 591 KINETIC ENERGY, 492 LAGRANGE DYNAMICS, 533, 542 LAGRANGEAN, 493 NEWTON-EULER DYNAMICS, 516 POTENTIAL ENERGY, 493 RECURSIVE DYNAMICS, 524 TIME-OPTIMAL CONTROL, 630 WITH MASSIVE LINKS, 542 3R PLANAR MANIPULATOR DH TRANSFORMATION MATRIX, 204 FORWARD KINEMATICS, 227 4R PLANAR MANIPULATOR STATICS, 548 ACCELERATION ANGULAR, 423, 428, 429, 431, 432 BIAS VECTOR, 440 BODY POINT, 317, 432, 434,452 CENTRIPETAL, 432 CONSTANT PARABOLA, 593 CONSTANT PATH, 580 CORIOLIS, 454 DISCONTINUOUS PATH, 588 DISCRETE EQUATION, 620, 631 END-EFFECTOR, 429 FORWARD KINEMATICS, 437, 439 GRAVITATIONAL, 532, 538, 549 INVERSE KINEMATICS, 439 JUMP, 573 MATRIX, 414, 423, 434-436 RECURSIVE, 507, 510 SENSORS, 659 TANGENTIAL, 432 ACTIVE TRANSFORMATION, 72 ACTUATOR, 7, 12 FORCE AND TORQUE, 513, 529, 553 OPTIMAL TORQUE, 632, 633 TORQUE EQUATION, 518, 630 ALGORITHM FLOATING-TIME, 619, 629 INVERSE KINEMATICS, 286 LU FACTORIZATION, 380 LU SOLUTION, 380 NEWTON-RAPHSON, 398 ANGLE-AXIS ROTATION, 106 ANGULAR ACCELERATION, 423, 431,432 COMBINATION, 428 END-EFFECTOR, 429 IN TERMS OF EULER PARAMETERS, 429, 431 IN TERMS OF QUATERNION, 431 RECURSIVE, 414 ANGULAR MOMENTUM 2 LINK MANIPULATOR, 462 ANGULAR VELOCITY, 53, 56, 57, 86, 299, 306 ALTERNATIVE DEFINITION, 318 COMBINATION, 305 COORDINATE TRANSFORMATION, 308 DECOMPOSITION, 305 686 INDEX ELEMENTS OF MATRIX, 311 IN TERMS OF EULER PARAMETERS, 310 IN TERMS OF QUATERNION, 309 IN TERMS OF ROTATION MATRIX, 307 INSTANTANEOUS, 301 INSTANTANEOUS AXIS, 302 MATRIX, 300 PRINCIPAL MATRIX, 304 RECURSIVE, 412, 509 ARTICULATED ARM, 8, 231, 267, 357, 408 ATAN2 FUNCTION, 272 AUTOMORPHISM, 102 AXIS-ANGLE ROTATION, 81, 84, 85, 90, 91,94 BLOCK DIAGRAM, 644 BRACHISTOCHRONE, 616, 627 BRYANT ANGLES, 58 CARDAN ANGLES, 58 FREQUENCIES, 58 CARTESIAN ANGULAR VELOCITY, 56 END-EFFECTOR POSITION, 365 END-EFFECTOR VELOCITY, 366 MANIPULATOR, 8, 11 PATH, 592 CENTRAL DIFFERENCE, 625 CHASLES THEOREM, 154, 166 CHRISTOFFEL OPERATOR, 488, 535 CO-STATE VARIABLE, 610 CONTROL ADAPTIVE, 649 ADMISSIBLE, 618 BANG-BANG, 609, 610 CHARACTERISTIC EQUATION, 646 CLOSED-LOOP, 643 COMMAND, 643 COMPUTED FORCE, 651 COMPUTED TORQUE, 648, 649 DERIVATIVE, 655 DESIRED PATH, 643 ERROR, 643 FEEDBACK, 644 FEEDBACK COMMAND, 651 FEEDBACK LINEARIZATION, 648, 651 FEEDFORWARD COMMAND, 651 GAIN-SCHEDULING, 649 INPUT, 650 INTEGRAL, 655 LINEAR, 649, 654 MINIMUM TIME, 609 MODIFIED PD, 657 OPEN-LOOP, 643, 650 PATH POINTS, 595 PD, 657 PROPORTIONAL, 654 ROBOTS, 13 SENSING, 657 STABILITY OF LINEAR, 646 TIME-OPTIMAL, 618, 622, 629, 630, 633 TIME-OPTIMAL DESCRIPTION, 618 TIME-OPTIMAL PATH, 627 CONTROLLER, 7 COORDINATE CYLINDRICAL, 152 FRAME, 17 NON-CARTESIAN, 487 NON-ORTHOGONAL, 117 PARABOLIC, 487 SPHERICAL, 153, 332 SYSTEM, 17 CORIOLIS ACCELERATION, 428, 434 EFFECT, 454 FORCE, 453 CYCLOID, 617 DENAVIT-HARTENBERG, 31 METHOD, 199, 202, 248 NONSTANDARD METHOD, 223, 283 NOTATION, 199 PARAMETERS, 199, 334, 345, 510, 548 INDEX 687 TRANSFORMATION, 208, 212-218, 220, 222, 243 DIFFERENTIAL MANIFOLD, 71 DIFFERENTIATING, 312 B-DERIVATIVE, 312, 314 G-DERIVATIVE, 312, 317 SECOND, 320 TRANSFORMATION FORMULA, 317 DISTAL END, 199, 548 DYNAMICS, 421, 507 2R PLANAR MANIPULATOR, 516, 524 4 BAR LINKAGE, 514 ACTUATOR S FORCE AND TORQUE, 529 BACKWARD NEWTON-EULER, 522 FORWARD NEWTON-EULER, 529 GLOBAL NEWTON-EULER, 511 LAGRANGE, 530 NEWTON-EULER, 511 ONE-LINK MANIPULATOR, 513 RECURSIVE NEWTON-EULER, 511, 522 EARTH EFFECT OF ROTATION, 453 KINETIC ENERGY, 486 REVOLUTION, 486 ROTATION, 486 ROTATION EFFECT, 428 EIGENVALUE, 87 EIGENVECTOR, 87 ELLIPSOID ENERGY, 465 MOMENTUM, 464 END-EFFECTOR, 6 ACCELERATION, 437 ANGULAR ACCELERATION, 429 ANGULAR VELOCITY, 363 ARTICULATED ROBOT, 267 CONFIGURATION VECTOR, 348, 405, 437 CONFIGURATION VELOCITY, 437 FORCE, 530 FRAME, 207, 231 INVERSE KINEMATICS, 265 KINEMATICS, 237 LINK, 199 ORIENTATION, 271, 364 PATH, 591, 600 POSITION, 231 POSITION KINEMATICS, 226 POSITION VECTOR, 358 ROTATION, 597 SCARA POSITION, 149 SCARA ROBOT, 240 SPACE STATION MANIPULATOR, 243 SPHERICAL ROBOT, 247 TIME OPTIMAL CONTROL, 609 VELOCITY, 348, 354, 365 VELOCITY VECTOR, 348 ENERGY EARTH KINETIC, 486 KINETIC RIGID BODY, 461 KINETIC ROTATIONAL, 458 LINK S KINETIC, 531, 537 LINK S POTENTIAL, 532 MECHANICAL, 486 POINT KINETIC, 451 POTENTIAL, 489 ROBOT KINETIC, 531, 538 ROBOT POTENTIAL, 532, 538 EULER -LEXELL-RODRIGUEZ FORMULA, 83 ANGLES, 18, 48, 51, 53, 107 INTEGRABILITY, 57 COORDINATE FRAME, 56 EQUATION OF MOTION, 457, 460, 461, 466, 467, 513, 523 FREQUENCIES, 53, 56, 306 INVERSE MATRIX, 69 PARAMETERS, 88-92, 96-98,100, 111, 309, 310 ROTATION MATRIX, 51, 69 THEOREM, 48, 88 EULER EQUATION BODY FRAME, 460, 467 EULER-LAGRANGE EQUATION OF MOTION, 614, 615 EULERIAN 688 INDEX VIEWPOINT, 326 FLOATING TIME, 620 1 DOF ALGORITHM, 619 ANALYTIC CALCULATION, 627 BACKWARD PATH, 622 CONVERGENCE, 625 FORWARD PATH, 621 METHOD, 618 MULTI DOF ALGORITHM, 629 MULTIPLE SWITCHING, 633 PATH PLANNING, 627 ROBOT CONTROL, 629 FORCE, 449 ACTION, 512 ACTUATOR, 529 CONSERVATIVE, 489 CORIOLIS, 454 DRIVEN, 512 DRIVING, 512 GENERALIZED, 483, 532 GRAVITATIONAL VECTOR, 533 POTENTIAL, 489 POTENTIAL FIELD, 485 REACTION, 512 SENSORS, 660 SHAKING, 516 TIME VARYING, 454 FORWARD KINEMATICS, 32 FRAME CENTRAL, 455 FINAL, 207 GOAL, 207 PRINCIPAL, 457 REFERENCE, 16 SPECIAL, 206 STATION, 206 TOOL, 207 WORLD, 206 WRIST, 207 GENERALIZED COORDINATE, 480, 483, 484, 490 FORCE, 482, 483, 485, 487, 489, 491, 494, 530 INVERSE JACOBIAN, 403 GRASSMANIAN, 177 GROUP PROPERTIES, 70 HAMILTONIAN, 610 HAND, 231 HAYATI-ROBERTS NOTATION, 224 HELIX, 154 HOMOGENEOUS COMPOUND TRANSFORMATION, 145 COORDINATE, 133, 138 DIRECTION, 138 GENERAL TRANSFORMATION, 139, 143 INVERSE TRANSFORMATION, 139, 141, 142, 146 POSITION VECTOR, 133 SCALE FACTOR, 133 TRANSFORMATION, 131,134-137, 139, 141 INTEGRABILITY, 57 INVERSE KINEMATICS, 32, 265 DECOUPLING TECHNIQUE, 265 INVERSE TRANSFORMATION TECH- NIQUE, 272 ITERATIVE TECHNIQUE, 284 PIEPER TECHNIQUE, 274 INVERTED PENDULUM, 652 JACOBIAN ANALYTICAL, 365 ELEMENTS, 363 GENERATING VECTOR, 353, 355, 404 GEOMETRICAL, 365 INVERSE, 287, 403 MATRIX, 285, 287, 290, 292, 348, 352, 355, 357, 361, 365, 368, 397, 401, 404, 407, 408, 437, 439, 442, 534 OF LINK, 531 POLAR MANIPULATOR, 349 JERK INDEX 689 ANGULAR, 430 MATRIX, 436 TRANSFORMATION, 435, 437 ZERO PATH, 579 JOINT, 3 ACCELERATION VECTOR, 437 ACTIVE, 4 COORDINATE, 4 CYLINDRICAL, 252 INACTIVE, 4 ORTHOGONAL, 8 PARALLEL, 8 PASSIVE, 4 PATH, 591 PERPENDICULAR, 8 SCREW, 4 VARIABLE VECTOR, 348 VELOCITY VECTOR, 348, 355 JOINT ANGLE, 200 JOINT DISTANCE, 200 JOINT PARAMETERS, 202 KINEMATIC LENGTH, 200 KINEMATICS, 31 ACCELERATION, 423 FORWARD, 32, 226 FORWARD ACCELERATION, 437 FORWARD VELOCITY, 348 INVERSE, 32, 265, 272 INVERSE ACCELERATION, 439 INVERSE VELOCITY, 365 NUMERICAL METHODS, 377 VELOCITY, 345 KINETIC ENERGY, 451 EARTH, 486 LINK, 537 PARABOLIC COORDINATE, 487 RIGID BODY, 461 ROBOT, 531, 538 ROTATIONAL BODY, 458 KRONECKER S DELTA, 65, 457, 479 LAGRANGE DYNAMICS, 530 EQUATION, 536 EQUATION OF MOTION, 480, 489 MECHANICS, 489 MULTIPLIER, 617 LAGRANGE EQUATION EXPLICIT FORM, 488 LAGRANGEAN, 489, 538 ROBOT, 538 VIEWPOINT, 326 LAW MOTION, 450 MOTION SECOND, 450, 455 MOTION THIRD, 450 ROBOTICS, 1 LEVI-CIVITA DENSITY, 96 LIE GROUP, 71 LINK, 3 ANGULAR VELOCITY, 346 CLASS 1 AND 2, 213 CLASS 11 AND 12, 218 CLASS 3 AND 4, 214 CLASS 5 AND 6, 215 CLASS 7 AND 8, 216 CLASS 9 AND 10, 217 CLASSIFICATION, 219 END-EFFECTOR, 199 EULER EQUATION, 523 KINETIC ENERGY, 531 NEWTON-EULER DYNAMICS, 511 RECURSIVE ACCELERATION, 507, 510 RECURSIVE NEWTON-EULER DYNAM- ICS, 522 RECURSIVE VELOCITY, 509, 510 ROTATIONAL ACCELERATION, 508 TRANSLATIONAL ACCELERATION, 508 TRANSLATIONAL VELOCITY, 347 VELOCITY, 345 LINK LENGTH, 200 LINK OFFSET, 200 LINK PARAMETERS, 202 LINK TWIST, 200 LOCATION VECTOR, 156, 158 LU FACTORIZATION METHOD, 377, 392 MANIPULATOR 2R PLANAR, 491, 533 690 INDEX 3R PLANAR, 227 ARTICULATED, 205 DEFINITION, 5 INERTIA MATRIX, 532 ONE-LINK, 490 ONE-LINK CONTROL, 655 ONE-LINK DYNAMICS, 513 PUMA, 204 SCARA, 8 TRANSFORMATION MATRIX, 267 MASS CENTER, 450, 451, 455 MATRIX SKEW SYMMETRIC, 68, 69, 82, 89 MOMENT, 449 ACTION, 512 DRIVEN, 512 DRIVING, 512 REACTION, 512 MOMENT OF INERTIA ABOUT A LINE, 479 ABOUT A PLANE, 479 ABOUT A POINT, 479 CHARACTERISTIC EQUATION, 477 DIAGONAL ELEMENTS, 477 HUYGENS-STEINER THEOREM, 471 MATRIX, 468 PARALLEL-AXES THEOREM, 469 POLAR, 468 PRINCIPAL, 469 PRINCIPAL AXES, 458 PRINCIPAL INVARIANTS, 477 PRODUCT, 468 PSEUDO MATRIX, 469 RIGID BODY, 457 ROTATED-AXES THEOREM, 469 MOMENT OF MOMENTUM, 450 MOMENTUM, 450 ANGULAR, 450 ELLIPSOID, 464 LINEAR, 450 MOTION, 14 NEWTON EQUATION OF MOTION, 480 NEWTON EQUATION BODY FRAME, 456 GLOBAL FRAME, 455 LAGRANGE FORM, 482 ROTATING FRAME, 453 NEWTON-EULER BACKWARD EQUATIONS, 522 EQUATION OF MOTION, 523 FORWARD EQUATIONS, 529 GLOBAL EQUATIONS, 511 RECURSIVE EQUATIONS, 522 NUMERICAL METHODS, 377 ANALYTIC INVERSION, 394 CAYLEY-HAMILTON INVERSION, 395 CONDITION NUMBER, 388 ILL-CONDITIONED, 388 JACOBIAN MATRIX, 404 LU FACTORIZATION, 377 LU FACTORIZATION WITH PIVOT- ING, 383 MATRIX INVERSION, 390 NEWTON-RAPHSON, 398, 400 NONLINEAR EQUATIONS, 397 NORM OF A MATRIX, 389 PARTITIONING INVERSION, 393 UNIQUENESS OF SOLUTION, 387 WELL-CONDITIONED, 388 OPTIMAL CONTROL, 609 A LINEAR SYSTEM, 610 DESCRIPTION, 618 FIRST VARIATION, 615 HAMILTONIAN, 610, 613 LAGRANGE EQUATION, 614 OBJECTIVE FUNCTION, 609, 613 PERFORMANCE INDEX, 613 SECOND VARIATION, 615 SWITCHING POINT, 611 ORTHOGONALITY CONDITION, 64 PASSIVE TRANSFORMATION, 72 PATH BRACHISTOCHRONE, 627 CARTESIAN, 592 CONSTANT ACCELERATION, 580 INDEX 691 CONSTANT ANGULAR ACCELERATION, 599 CONTROL POINTS, 595 CUBIC, 571 CYCLOID, 590 HARMONIC, 589 HIGHER POLYNOMIAL, 578 JERK ZERO, 579 JOINT SPACE, 591 NON-POLYNOMIAL, 589 PLANNING, 592 POINT SEQUENCE, 582 QUADRATIC, 577 QUINTIC, 578 REST-TO-REST, 573, 574 ROTATIONAL, 597 SPLITTING, 584 TO-REST, 573 PENDULUM CONTROL, 652 INVERTED, 652, 657 LINEAR CONTROL, 655 OSCILLATING, 484 SIMPLE, 425, 483 SPHERICAL, 490 PERMUTATION SYMBOL, 96 PHASE PLANE, 611 PIEPER TECHNIQUE, 274 PLTICKER ANGLE, 181 CLASSIFICATION COORDINATE, 178 DISTANCE, 181 LINE COORDINATE, 173,175-177, 181, 185-187, 247, 248 MOMENT, 180 RAY COORDINATE, 175, 177 RECIPROCAL PRODUCT, 181 SCREW, 186 VIRTUAL PRODUCT, 181 POINSOT S CONSTRUCTION, 464 POINT AT INFINITY, 138 POLE, 163 POSITION SENSORS, 658 POSITIONING, 14 POTENTIAL FORCE, 489 POTENTIAL ENERGY ROBOT, 532, 538 PROXIMAL END, 199, 548 QUATERNIONS, 99 ADDITION, 99 COMPOSITION ROTATION, 102 FLAG FORM, 99 INVERSE ROTATION, 101 MULTIPLICATION, 99 ROTATION, 100 RIGID BODY ACCELERATION, 431, 508 ANGULAR MOMENTUM, 458 ANGULAR VELOCITY, 86 EULER EQUATION OF MOTION, 461, 466 KINEMATICS, 127 KINETIC ENERGY, 461 MOMENT OF INERTIA, 457 MOTION, 127 MOTION CLASSIFICATION, 167 MOTION COMPOSITION, 131 PRINCIPAL ROTATION MATRIX, 476 ROTATIONAL KINETICS, 457 STEADY ROTATION, 462 TRANSLATIONAL KINETICS, 455 VELOCITY, 321, 323 ROBOT APPLICATION, 13 ARTICULATED, 8, 231, 238, 267, 357, 361 CARTESIAN, 11 CLASSIFICATION, 7 CONTROL, 13, 14 CONTROL ALGORITHMS, 648 CYLINDRICAL, 11, 259 DYNAMICS, 14, 19, 507, 533 END-EFFECTOR PATH, 600 EQUATION OF MOTION, 540 FORWARD KINEMATICS, 226, 246 GRAVITATIONAL VECTOR, 533 INERTIA MATRIX, 532 692 INDEX KINEMATICS, 14 KINETIC ENERGY, 531, 538 LAGRANGE DYNAMICS, 530, 536 LAGRANGE EQUATION, 533 LAGRANGEAN, 532, 536 LINK CLASSIFICATION, 245 MODIFIED PD CONTROL, 657 NEWTON-EULER DYNAMICS, 511 PD CONTROL, 657 POTENTIAL ENERGY, 532, 538 RECURSIVE NEWTON-EULER DYNAM- ICS, 522 REST POSITION, 200, 203, 231, 235, 239 SCARA, 149, 239 SPHERICAL, 10, 205, 235, 246, 274, 355 STATE EQUATION, 613 STATICS, 546 TIME-OPTIMAL CONTROL, 613, 629 VELOCITY COUPLING VECTOR, 533 ROBOTIC GEOMETRY, 8 HISTORY, 1 LAW, 1 RODRIGUEZ ROTATION FORMULA, 83, 84, 89, 92-95,101,106,114,128, 158, 161, 167, 172, 302, 337, 597 VECTOR, 95, 113 ROLL-PITCH-YAW FREQUENCY, 60 GLOBAL ANGLES, 41, 59 GLOBAL ROTATION MATRIX, 41, 59 ROTATION, 32, 83 ABOUT GLOBAL AXIS, 33, 38, 40 ABOUT LOCAL AXIS, 43, 47, 48 ANGLE-AXIS, 106 AXIS-ANGLE, 81, 83-85, 90, 91, 94, 106 COMPOSITION, 113 DECOMPOSITION, 113 EIGENVALUE, 87 EIGENVECTOR, 87 EXPONENTIAL FORM, 93 GENERAL, 63 INFINITESIMAL, 92 LOCAL VERSUS GLOBAL, 61 MATRIX, 18, 105 POLE, 326 QUATERNION, 100 STANLEY METHOD, 98 X-MATRIX, 33 X-MATRIX, 43 Y-MATRIX, 33 Y-MATRIX, 43 Z-MATRIX, 33 Z-MATRIX, 43 ROTATIONAL PATH, 597 ROTATOR, 83, 102 SCARA MANIPULATOR, 8 ROBOT, 149, 239 SCREW, 154, 157, 166 AXIS, 154 CENTRAL, 155, 156, 159, 160, 173, 187, 202, 243, 245, 247 COMBINATION, 170, 172 COORDINATE, 154 DECOMPOSITION, 172, 173 EXPONENTIAL, 171 FORWARD KINEMATICS, 243 INSTANTANEOUS, 187 INTERSECTION, 248 INVERSE, 169, 170, 172 LEFT-HANDED, 155 LINK CLASSIFICATION, 245 LOCATION VECTOR, 156 MOTION, 202, 327 PARAMETERS, 155, 164 PITCH, 154 PLUCKER COORDINATE, 186 PRINCIPAL, 166, 172, 173 REVERSE CENTRAL, 156 RIGHT-HANDED, 15, 155 SPECIAL CASE, 162 TRANSFORMATION, 158, 165 INDEX 693 TWIST, 154 SECOND DERIVATIVE, 320 SENSOR ACCELERATION, 659 POSITION, 658 ROTARY, 658 VELOCITY, 659 SHETH NOTATION, 248 SINGULAR CONFIGURATION, 291 SPHERICAL COORDINATE, 153 SPINOR, 83, 102 SPLINE, 588 STANLEY METHOD, 98 STARK EFFECT, 487 SYMBOLS, XI TILT VECTOR, 231 TIME DERIVATIVE, 312 TOP, 53 TRANSFORMATION, 31 ACTIVE AND PASSIVE, 71 GENERAL, 63 HOMOGENEOUS, 131 TRANSFORMATION MATRIX DERIVATIVE, 332 DIFFERENTIAL, 336, 337 ELEMENTS, 66 VELOCITY, 327 TRANSLATION, 32 TRIAD, 15 TRIGONOMETRIC EQUATION, 271 TURN VECTOR, 231 TWIST VECTOR, 231 UNIT SYSTEM, XI UNIT VECTORS, 16 VECTOR GRAVITATIONAL FORCE, 533 VELOCITY COUPLING, 533 VECTOR GRAVITATIONAL FORCE, 537 VELOCITY COUPLING, 536 VECTOR DECOMPOSITION, 117 VELOCITY BODY POINT, 452 DISCRETE EQUATION, 620, 631 END-EFFECTOR, 348 INVERSE TRANSFORMATION, 330 MATRIX, 436 OPERATOR MATRIX, 333 PRISMATIC TRANSFORMATION, 335 REVOLUTE TRANSFORMATION, 335 SENSORS, 659 TRANSFORMATION MATRIX, 327, 329, 331, 333 WORK, 451, 454 VIRTUAL, 483 WORK-ENERGY PRINCIPLE, 451 WORKSPACE, 11 WRENCH, 452 WRIST, 12-14, 231 DECOUPLING KINEMATICS, 266 FORWARD KINEMATICS, 229 FRAME, 207 KINEMATICS ASSEMBLY, 238 POINT, 6, 229, 271 POSITION VECTOR, 270 SPHERICAL, 6, 205, 231, 235, 361 TRANSFORMATION MATRIX, 230, 267 ZERO VELOCITY POINT, 326
adam_txt	THEORY OF APPLIED ROBOTICS KINEMATICS, DYNAMICS, AND CONTROL REZA N. JAZAR DEPARTMENT OF MECHANICAL ENGINEERING MANHATTAN COLLEGE RIVERDALE, NY FYA SPRINGER INDEX 2R PLANAR MANIPULATOR CONTROL, 652 DH TRANSFORMATION MATRIX, 212 DYNAMICS, 491, 540 EQUATIONS OF MOTION, 494 FORWARD ACCELERATION, 439 IDEAL, 491 INVERSE ACCELERATION, 441 INVERSE KINEMATICS, 281, 286, 399 INVERSE VELOCITY, 366, 368 JACOBIAN MATRIX, 350, 352 JOINT 2 ACCELERATION, 433 JOINT PATH, 591 KINETIC ENERGY, 492 LAGRANGE DYNAMICS, 533, 542 LAGRANGEAN, 493 NEWTON-EULER DYNAMICS, 516 POTENTIAL ENERGY, 493 RECURSIVE DYNAMICS, 524 TIME-OPTIMAL CONTROL, 630 WITH MASSIVE LINKS, 542 3R PLANAR MANIPULATOR DH TRANSFORMATION MATRIX, 204 FORWARD KINEMATICS, 227 4R PLANAR MANIPULATOR STATICS, 548 ACCELERATION ANGULAR, 423, 428, 429, 431, 432 BIAS VECTOR, 440 BODY POINT, 317, 432, 434,452 CENTRIPETAL, 432 CONSTANT PARABOLA, 593 CONSTANT PATH, 580 CORIOLIS, 454 DISCONTINUOUS PATH, 588 DISCRETE EQUATION, 620, 631 END-EFFECTOR, 429 FORWARD KINEMATICS, 437, 439 GRAVITATIONAL, 532, 538, 549 INVERSE KINEMATICS, 439 JUMP, 573 MATRIX, 414, 423, 434-436 RECURSIVE, 507, 510 SENSORS, 659 TANGENTIAL, 432 ACTIVE TRANSFORMATION, 72 ACTUATOR, 7, 12 FORCE AND TORQUE, 513, 529, 553 OPTIMAL TORQUE, 632, 633 TORQUE EQUATION, 518, 630 ALGORITHM FLOATING-TIME, 619, 629 INVERSE KINEMATICS, 286 LU FACTORIZATION, 380 LU SOLUTION, 380 NEWTON-RAPHSON, 398 ANGLE-AXIS ROTATION, 106 ANGULAR ACCELERATION, 423, 431,432 COMBINATION, 428 END-EFFECTOR, 429 IN TERMS OF EULER PARAMETERS, 429, 431 IN TERMS OF QUATERNION, 431 RECURSIVE, 414 ANGULAR MOMENTUM 2 LINK MANIPULATOR, 462 ANGULAR VELOCITY, 53, 56, 57, 86, 299, 306 ALTERNATIVE DEFINITION, 318 COMBINATION, 305 COORDINATE TRANSFORMATION, 308 DECOMPOSITION, 305 686 INDEX ELEMENTS OF MATRIX, 311 IN TERMS OF EULER PARAMETERS, 310 IN TERMS OF QUATERNION, 309 IN TERMS OF ROTATION MATRIX, 307 INSTANTANEOUS, 301 INSTANTANEOUS AXIS, 302 MATRIX, 300 PRINCIPAL MATRIX, 304 RECURSIVE, 412, 509 ARTICULATED ARM, 8, 231, 267, 357, 408 ATAN2 FUNCTION, 272 AUTOMORPHISM, 102 AXIS-ANGLE ROTATION, 81, 84, 85, 90, 91,94 BLOCK DIAGRAM, 644 BRACHISTOCHRONE, 616, 627 BRYANT ANGLES, 58 CARDAN ANGLES, 58 FREQUENCIES, 58 CARTESIAN ANGULAR VELOCITY, 56 END-EFFECTOR POSITION, 365 END-EFFECTOR VELOCITY, 366 MANIPULATOR, 8, 11 PATH, 592 CENTRAL DIFFERENCE, 625 CHASLES THEOREM, 154, 166 CHRISTOFFEL OPERATOR, 488, 535 CO-STATE VARIABLE, 610 CONTROL ADAPTIVE, 649 ADMISSIBLE, 618 BANG-BANG, 609, 610 CHARACTERISTIC EQUATION, 646 CLOSED-LOOP, 643 COMMAND, 643 COMPUTED FORCE, 651 COMPUTED TORQUE, 648, 649 DERIVATIVE, 655 DESIRED PATH, 643 ERROR, 643 FEEDBACK, 644 FEEDBACK COMMAND, 651 FEEDBACK LINEARIZATION, 648, 651 FEEDFORWARD COMMAND, 651 GAIN-SCHEDULING, 649 INPUT, 650 INTEGRAL, 655 LINEAR, 649, 654 MINIMUM TIME, 609 MODIFIED PD, 657 OPEN-LOOP, 643, 650 PATH POINTS, 595 PD, 657 PROPORTIONAL, 654 ROBOTS, 13 SENSING, 657 STABILITY OF LINEAR, 646 TIME-OPTIMAL, 618, 622, 629, 630, 633 TIME-OPTIMAL DESCRIPTION, 618 TIME-OPTIMAL PATH, 627 CONTROLLER, 7 COORDINATE CYLINDRICAL, 152 FRAME, 17 NON-CARTESIAN, 487 NON-ORTHOGONAL, 117 PARABOLIC, 487 SPHERICAL, 153, 332 SYSTEM, 17 CORIOLIS ACCELERATION, 428, 434 EFFECT, 454 FORCE, 453 CYCLOID, 617 DENAVIT-HARTENBERG, 31 METHOD, 199, 202, 248 NONSTANDARD METHOD, 223, 283 NOTATION, 199 PARAMETERS, 199, 334, 345, 510, 548 INDEX 687 TRANSFORMATION, 208, 212-218, 220, 222, 243 DIFFERENTIAL MANIFOLD, 71 DIFFERENTIATING, 312 B-DERIVATIVE, 312, 314 G-DERIVATIVE, 312, 317 SECOND, 320 TRANSFORMATION FORMULA, 317 DISTAL END, 199, 548 DYNAMICS, 421, 507 2R PLANAR MANIPULATOR, 516, 524 4 BAR LINKAGE, 514 ACTUATOR'S FORCE AND TORQUE, 529 BACKWARD NEWTON-EULER, 522 FORWARD NEWTON-EULER, 529 GLOBAL NEWTON-EULER, 511 LAGRANGE, 530 NEWTON-EULER, 511 ONE-LINK MANIPULATOR, 513 RECURSIVE NEWTON-EULER, 511, 522 EARTH EFFECT OF ROTATION, 453 KINETIC ENERGY, 486 REVOLUTION, 486 ROTATION, 486 ROTATION EFFECT, 428 EIGENVALUE, 87 EIGENVECTOR, 87 ELLIPSOID ENERGY, 465 MOMENTUM, 464 END-EFFECTOR, 6 ACCELERATION, 437 ANGULAR ACCELERATION, 429 ANGULAR VELOCITY, 363 ARTICULATED ROBOT, 267 CONFIGURATION VECTOR, 348, 405, 437 CONFIGURATION VELOCITY, 437 FORCE, 530 FRAME, 207, 231 INVERSE KINEMATICS, 265 KINEMATICS, 237 LINK, 199 ORIENTATION, 271, 364 PATH, 591, 600 POSITION, 231 POSITION KINEMATICS, 226 POSITION VECTOR, 358 ROTATION, 597 SCARA POSITION, 149 SCARA ROBOT, 240 SPACE STATION MANIPULATOR, 243 SPHERICAL ROBOT, 247 TIME OPTIMAL CONTROL, 609 VELOCITY, 348, 354, 365 VELOCITY VECTOR, 348 ENERGY EARTH KINETIC, 486 KINETIC RIGID BODY, 461 KINETIC ROTATIONAL, 458 LINK'S KINETIC, 531, 537 LINK'S POTENTIAL, 532 MECHANICAL, 486 POINT KINETIC, 451 POTENTIAL, 489 ROBOT KINETIC, 531, 538 ROBOT POTENTIAL, 532, 538 EULER -LEXELL-RODRIGUEZ FORMULA, 83 ANGLES, 18, 48, 51, 53, 107 INTEGRABILITY, 57 COORDINATE FRAME, 56 EQUATION OF MOTION, 457, 460, 461, 466, 467, 513, 523 FREQUENCIES, 53, 56, 306 INVERSE MATRIX, 69 PARAMETERS, 88-92, 96-98,100, 111, 309, 310 ROTATION MATRIX, 51, 69 THEOREM, 48, 88 EULER EQUATION BODY FRAME, 460, 467 EULER-LAGRANGE EQUATION OF MOTION, 614, 615 EULERIAN 688 INDEX VIEWPOINT, 326 FLOATING TIME, 620 1 DOF ALGORITHM, 619 ANALYTIC CALCULATION, 627 BACKWARD PATH, 622 CONVERGENCE, 625 FORWARD PATH, 621 METHOD, 618 MULTI DOF ALGORITHM, 629 MULTIPLE SWITCHING, 633 PATH PLANNING, 627 ROBOT CONTROL, 629 FORCE, 449 ACTION, 512 ACTUATOR, 529 CONSERVATIVE, 489 CORIOLIS, 454 DRIVEN, 512 DRIVING, 512 GENERALIZED, 483, 532 GRAVITATIONAL VECTOR, 533 POTENTIAL, 489 POTENTIAL FIELD, 485 REACTION, 512 SENSORS, 660 SHAKING, 516 TIME VARYING, 454 FORWARD KINEMATICS, 32 FRAME CENTRAL, 455 FINAL, 207 GOAL, 207 PRINCIPAL, 457 REFERENCE, 16 SPECIAL, 206 STATION, 206 TOOL, 207 WORLD, 206 WRIST, 207 GENERALIZED COORDINATE, 480, 483, 484, 490 FORCE, 482, 483, 485, 487, 489, 491, 494, 530 INVERSE JACOBIAN, 403 GRASSMANIAN, 177 GROUP PROPERTIES, 70 HAMILTONIAN, 610 HAND, 231 HAYATI-ROBERTS NOTATION, 224 HELIX, 154 HOMOGENEOUS COMPOUND TRANSFORMATION, 145 COORDINATE, 133, 138 DIRECTION, 138 GENERAL TRANSFORMATION, 139, 143 INVERSE TRANSFORMATION, 139, 141, 142, 146 POSITION VECTOR, 133 SCALE FACTOR, 133 TRANSFORMATION, 131,134-137, 139, 141 INTEGRABILITY, 57 INVERSE KINEMATICS, 32, 265 DECOUPLING TECHNIQUE, 265 INVERSE TRANSFORMATION TECH- NIQUE, 272 ITERATIVE TECHNIQUE, 284 PIEPER TECHNIQUE, 274 INVERTED PENDULUM, 652 JACOBIAN ANALYTICAL, 365 ELEMENTS, 363 GENERATING VECTOR, 353, 355, 404 GEOMETRICAL, 365 INVERSE, 287, 403 MATRIX, 285, 287, 290, 292, 348, 352, 355, 357, 361, 365, 368, 397, 401, 404, 407, 408, 437, 439, 442, 534 OF LINK, 531 POLAR MANIPULATOR, 349 JERK INDEX 689 ANGULAR, 430 MATRIX, 436 TRANSFORMATION, 435, 437 ZERO PATH, 579 JOINT, 3 ACCELERATION VECTOR, 437 ACTIVE, 4 COORDINATE, 4 CYLINDRICAL, 252 INACTIVE, 4 ORTHOGONAL, 8 PARALLEL, 8 PASSIVE, 4 PATH, 591 PERPENDICULAR, 8 SCREW, 4 VARIABLE VECTOR, 348 VELOCITY VECTOR, 348, 355 JOINT ANGLE, 200 JOINT DISTANCE, 200 JOINT PARAMETERS, 202 KINEMATIC LENGTH, 200 KINEMATICS, 31 ACCELERATION, 423 FORWARD, 32, 226 FORWARD ACCELERATION, 437 FORWARD VELOCITY, 348 INVERSE, 32, 265, 272 INVERSE ACCELERATION, 439 INVERSE VELOCITY, 365 NUMERICAL METHODS, 377 VELOCITY, 345 KINETIC ENERGY, 451 EARTH, 486 LINK, 537 PARABOLIC COORDINATE, 487 RIGID BODY, 461 ROBOT, 531, 538 ROTATIONAL BODY, 458 KRONECKER'S DELTA, 65, 457, 479 LAGRANGE DYNAMICS, 530 EQUATION, 536 EQUATION OF MOTION, 480, 489 MECHANICS, 489 MULTIPLIER, 617 LAGRANGE EQUATION EXPLICIT FORM, 488 LAGRANGEAN, 489, 538 ROBOT, 538 VIEWPOINT, 326 LAW MOTION, 450 MOTION SECOND, 450, 455 MOTION THIRD, 450 ROBOTICS, 1 LEVI-CIVITA DENSITY, 96 LIE GROUP, 71 LINK, 3 ANGULAR VELOCITY, 346 CLASS 1 AND 2, 213 CLASS 11 AND 12, 218 CLASS 3 AND 4, 214 CLASS 5 AND 6, 215 CLASS 7 AND 8, 216 CLASS 9 AND 10, 217 CLASSIFICATION, 219 END-EFFECTOR, 199 EULER EQUATION, 523 KINETIC ENERGY, 531 NEWTON-EULER DYNAMICS, 511 RECURSIVE ACCELERATION, 507, 510 RECURSIVE NEWTON-EULER DYNAM- ICS, 522 RECURSIVE VELOCITY, 509, 510 ROTATIONAL ACCELERATION, 508 TRANSLATIONAL ACCELERATION, 508 TRANSLATIONAL VELOCITY, 347 VELOCITY, 345 LINK LENGTH, 200 LINK OFFSET, 200 LINK PARAMETERS, 202 LINK TWIST, 200 LOCATION VECTOR, 156, 158 LU FACTORIZATION METHOD, 377, 392 MANIPULATOR 2R PLANAR, 491, 533 690 INDEX 3R PLANAR, 227 ARTICULATED, 205 DEFINITION, 5 INERTIA MATRIX, 532 ONE-LINK, 490 ONE-LINK CONTROL, 655 ONE-LINK DYNAMICS, 513 PUMA, 204 SCARA, 8 TRANSFORMATION MATRIX, 267 MASS CENTER, 450, 451, 455 MATRIX SKEW SYMMETRIC, 68, 69, 82, 89 MOMENT, 449 ACTION, 512 DRIVEN, 512 DRIVING, 512 REACTION, 512 MOMENT OF INERTIA ABOUT A LINE, 479 ABOUT A PLANE, 479 ABOUT A POINT, 479 CHARACTERISTIC EQUATION, 477 DIAGONAL ELEMENTS, 477 HUYGENS-STEINER THEOREM, 471 MATRIX, 468 PARALLEL-AXES THEOREM, 469 POLAR, 468 PRINCIPAL, 469 PRINCIPAL AXES, 458 PRINCIPAL INVARIANTS, 477 PRODUCT, 468 PSEUDO MATRIX, 469 RIGID BODY, 457 ROTATED-AXES THEOREM, 469 MOMENT OF MOMENTUM, 450 MOMENTUM, 450 ANGULAR, 450 ELLIPSOID, 464 LINEAR, 450 MOTION, 14 NEWTON EQUATION OF MOTION, 480 NEWTON EQUATION BODY FRAME, 456 GLOBAL FRAME, 455 LAGRANGE FORM, 482 ROTATING FRAME, 453 NEWTON-EULER BACKWARD EQUATIONS, 522 EQUATION OF MOTION, 523 FORWARD EQUATIONS, 529 GLOBAL EQUATIONS, 511 RECURSIVE EQUATIONS, 522 NUMERICAL METHODS, 377 ANALYTIC INVERSION, 394 CAYLEY-HAMILTON INVERSION, 395 CONDITION NUMBER, 388 ILL-CONDITIONED, 388 JACOBIAN MATRIX, 404 LU FACTORIZATION, 377 LU FACTORIZATION WITH PIVOT- ING, 383 MATRIX INVERSION, 390 NEWTON-RAPHSON, 398, 400 NONLINEAR EQUATIONS, 397 NORM OF A MATRIX, 389 PARTITIONING INVERSION, 393 UNIQUENESS OF SOLUTION, 387 WELL-CONDITIONED, 388 OPTIMAL CONTROL, 609 A LINEAR SYSTEM, 610 DESCRIPTION, 618 FIRST VARIATION, 615 HAMILTONIAN, 610, 613 LAGRANGE EQUATION, 614 OBJECTIVE FUNCTION, 609, 613 PERFORMANCE INDEX, 613 SECOND VARIATION, 615 SWITCHING POINT, 611 ORTHOGONALITY CONDITION, 64 PASSIVE TRANSFORMATION, 72 PATH BRACHISTOCHRONE, 627 CARTESIAN, 592 CONSTANT ACCELERATION, 580 INDEX 691 CONSTANT ANGULAR ACCELERATION, 599 CONTROL POINTS, 595 CUBIC, 571 CYCLOID, 590 HARMONIC, 589 HIGHER POLYNOMIAL, 578 JERK ZERO, 579 JOINT SPACE, 591 NON-POLYNOMIAL, 589 PLANNING, 592 POINT SEQUENCE, 582 QUADRATIC, 577 QUINTIC, 578 REST-TO-REST, 573, 574 ROTATIONAL, 597 SPLITTING, 584 TO-REST, 573 PENDULUM CONTROL, 652 INVERTED, 652, 657 LINEAR CONTROL, 655 OSCILLATING, 484 SIMPLE, 425, 483 SPHERICAL, 490 PERMUTATION SYMBOL, 96 PHASE PLANE, 611 PIEPER TECHNIQUE, 274 PLTICKER ANGLE, 181 CLASSIFICATION COORDINATE, 178 DISTANCE, 181 LINE COORDINATE, 173,175-177, 181, 185-187, 247, 248 MOMENT, 180 RAY COORDINATE, 175, 177 RECIPROCAL PRODUCT, 181 SCREW, 186 VIRTUAL PRODUCT, 181 POINSOT'S CONSTRUCTION, 464 POINT AT INFINITY, 138 POLE, 163 POSITION SENSORS, 658 POSITIONING, 14 POTENTIAL FORCE, 489 POTENTIAL ENERGY ROBOT, 532, 538 PROXIMAL END, 199, 548 QUATERNIONS, 99 ADDITION, 99 COMPOSITION ROTATION, 102 FLAG FORM, 99 INVERSE ROTATION, 101 MULTIPLICATION, 99 ROTATION, 100 RIGID BODY ACCELERATION, 431, 508 ANGULAR MOMENTUM, 458 ANGULAR VELOCITY, 86 EULER EQUATION OF MOTION, 461, 466 KINEMATICS, 127 KINETIC ENERGY, 461 MOMENT OF INERTIA, 457 MOTION, 127 MOTION CLASSIFICATION, 167 MOTION COMPOSITION, 131 PRINCIPAL ROTATION MATRIX, 476 ROTATIONAL KINETICS, 457 STEADY ROTATION, 462 TRANSLATIONAL KINETICS, 455 VELOCITY, 321, 323 ROBOT APPLICATION, 13 ARTICULATED, 8, 231, 238, 267, 357, 361 CARTESIAN, 11 CLASSIFICATION, 7 CONTROL, 13, 14 CONTROL ALGORITHMS, 648 CYLINDRICAL, 11, 259 DYNAMICS, 14, 19, 507, 533 END-EFFECTOR PATH, 600 EQUATION OF MOTION, 540 FORWARD KINEMATICS, 226, 246 GRAVITATIONAL VECTOR, 533 INERTIA MATRIX, 532 692 INDEX KINEMATICS, 14 KINETIC ENERGY, 531, 538 LAGRANGE DYNAMICS, 530, 536 LAGRANGE EQUATION, 533 LAGRANGEAN, 532, 536 LINK CLASSIFICATION, 245 MODIFIED PD CONTROL, 657 NEWTON-EULER DYNAMICS, 511 PD CONTROL, 657 POTENTIAL ENERGY, 532, 538 RECURSIVE NEWTON-EULER DYNAM- ICS, 522 REST POSITION, 200, 203, 231, 235, 239 SCARA, 149, 239 SPHERICAL, 10, 205, 235, 246, 274, 355 STATE EQUATION, 613 STATICS, 546 TIME-OPTIMAL CONTROL, 613, 629 VELOCITY COUPLING VECTOR, 533 ROBOTIC GEOMETRY, 8 HISTORY, 1 LAW, 1 RODRIGUEZ ROTATION FORMULA, 83, 84, 89, 92-95,101,106,114,128, 158, 161, 167, 172, 302, 337, 597 VECTOR, 95, 113 ROLL-PITCH-YAW FREQUENCY, 60 GLOBAL ANGLES, 41, 59 GLOBAL ROTATION MATRIX, 41, 59 ROTATION, 32, 83 ABOUT GLOBAL AXIS, 33, 38, 40 ABOUT LOCAL AXIS, 43, 47, 48 ANGLE-AXIS, 106 AXIS-ANGLE, 81, 83-85, 90, 91, 94, 106 COMPOSITION, 113 DECOMPOSITION, 113 EIGENVALUE, 87 EIGENVECTOR, 87 EXPONENTIAL FORM, 93 GENERAL, 63 INFINITESIMAL, 92 LOCAL VERSUS GLOBAL, 61 MATRIX, 18, 105 POLE, 326 QUATERNION, 100 STANLEY METHOD, 98 X-MATRIX, 33 X-MATRIX, 43 Y-MATRIX, 33 Y-MATRIX, 43 Z-MATRIX, 33 Z-MATRIX, 43 ROTATIONAL PATH, 597 ROTATOR, 83, 102 SCARA MANIPULATOR, 8 ROBOT, 149, 239 SCREW, 154, 157, 166 AXIS, 154 CENTRAL, 155, 156, 159, 160, 173, 187, 202, 243, 245, 247 COMBINATION, 170, 172 COORDINATE, 154 DECOMPOSITION, 172, 173 EXPONENTIAL, 171 FORWARD KINEMATICS, 243 INSTANTANEOUS, 187 INTERSECTION, 248 INVERSE, 169, 170, 172 LEFT-HANDED, 155 LINK CLASSIFICATION, 245 LOCATION VECTOR, 156 MOTION, 202, 327 PARAMETERS, 155, 164 PITCH, 154 PLUCKER COORDINATE, 186 PRINCIPAL, 166, 172, 173 REVERSE CENTRAL, 156 RIGHT-HANDED, 15, 155 SPECIAL CASE, 162 TRANSFORMATION, 158, 165 INDEX 693 TWIST, 154 SECOND DERIVATIVE, 320 SENSOR ACCELERATION, 659 POSITION, 658 ROTARY, 658 VELOCITY, 659 SHETH NOTATION, 248 SINGULAR CONFIGURATION, 291 SPHERICAL COORDINATE, 153 SPINOR, 83, 102 SPLINE, 588 STANLEY METHOD, 98 STARK EFFECT, 487 SYMBOLS, XI TILT VECTOR, 231 TIME DERIVATIVE, 312 TOP, 53 TRANSFORMATION, 31 ACTIVE AND PASSIVE, 71 GENERAL, 63 HOMOGENEOUS, 131 TRANSFORMATION MATRIX DERIVATIVE, 332 DIFFERENTIAL, 336, 337 ELEMENTS, 66 VELOCITY, 327 TRANSLATION, 32 TRIAD, 15 TRIGONOMETRIC EQUATION, 271 TURN VECTOR, 231 TWIST VECTOR, 231 UNIT SYSTEM, XI UNIT VECTORS, 16 VECTOR GRAVITATIONAL FORCE, 533 VELOCITY COUPLING, 533 VECTOR GRAVITATIONAL FORCE, 537 VELOCITY COUPLING, 536 VECTOR DECOMPOSITION, 117 VELOCITY BODY POINT, 452 DISCRETE EQUATION, 620, 631 END-EFFECTOR, 348 INVERSE TRANSFORMATION, 330 MATRIX, 436 OPERATOR MATRIX, 333 PRISMATIC TRANSFORMATION, 335 REVOLUTE TRANSFORMATION, 335 SENSORS, 659 TRANSFORMATION MATRIX, 327, 329, 331, 333 WORK, 451, 454 VIRTUAL, 483 WORK-ENERGY PRINCIPLE, 451 WORKSPACE, 11 WRENCH, 452 WRIST, 12-14, 231 DECOUPLING KINEMATICS, 266 FORWARD KINEMATICS, 229 FRAME, 207 KINEMATICS ASSEMBLY, 238 POINT, 6, 229, 271 POSITION VECTOR, 270 SPHERICAL, 6, 205, 231, 235, 361 TRANSFORMATION MATRIX, 230, 267 ZERO VELOCITY POINT, 326
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spelling	Jazar, Reza N. Verfasser (DE-588)1172360308 aut Theory of applied robotics kinematics, dynamics, and control Reza N. Jazar New York Springer 2007 XXI, 693 S. graph. Darst. 24 cm txt rdacontent n rdamedia nc rdacarrier Includes index. Abstract:. - http://webdev.openu.ac.il/ouweb/owal/new_books1.book_desc?in_mis_cat=111869. Robotique Robotique - Problèmes et exercices Robotics Robotics Problems, exercises, etc Robotik (DE-588)4261462-4 gnd rswk-swf Robotik (DE-588)4261462-4 s DE-604 http://www.loc.gov/catdir/toc/fy0711/2006939285.html Table of contents only http://deposit.dnb.de/cgi-bin/dokserv?id=2809066&prov=M&dok_var=1&dok_ext=htm HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016145879&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis
spellingShingle	Jazar, Reza N. Theory of applied robotics kinematics, dynamics, and control Robotique Robotique - Problèmes et exercices Robotics Robotics Problems, exercises, etc Robotik (DE-588)4261462-4 gnd
subject_GND	(DE-588)4261462-4
title	Theory of applied robotics kinematics, dynamics, and control
title_auth	Theory of applied robotics kinematics, dynamics, and control
title_exact_search	Theory of applied robotics kinematics, dynamics, and control
title_exact_search_txtP	Theory of applied robotics kinematics, dynamics, and control
title_full	Theory of applied robotics kinematics, dynamics, and control Reza N. Jazar
title_fullStr	Theory of applied robotics kinematics, dynamics, and control Reza N. Jazar
title_full_unstemmed	Theory of applied robotics kinematics, dynamics, and control Reza N. Jazar
title_short	Theory of applied robotics
title_sort	theory of applied robotics kinematics dynamics and control
title_sub	kinematics, dynamics, and control
topic	Robotique Robotique - Problèmes et exercices Robotics Robotics Problems, exercises, etc Robotik (DE-588)4261462-4 gnd
topic_facet	Robotique Robotique - Problèmes et exercices Robotics Robotics Problems, exercises, etc Robotik
url	http://www.loc.gov/catdir/toc/fy0711/2006939285.html http://deposit.dnb.de/cgi-bin/dokserv?id=2809066&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016145879&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT jazarrezan theoryofappliedroboticskinematicsdynamicsandcontrol

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