Modern robotics: mechanics, planning, and control
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| Main Authors: | , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Cambridge, United Kingdom ; New York, USA ; Port Melbourne, Australia ; New Delhi, India ; Singapore
Cambridge University Press
2017
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Klappentext |
| Item Description: | Literaturverzeichnis Seite [515]-523. Hier auch später erschienene, unveränderte Nachdrucke. |
| Physical Description: | xvi, 528 Seiten Illustrationen, Diagramme Breite 177mm, Höhe 253mm |
| ISBN: | 9781107156302 9781316609842 |
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MARC
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| 245 | 1 | 0 | |a Modern robotics |b mechanics, planning, and control |c Kevin M. Lynch, Northwestern University and Frank C. Park, Seoul National University |
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| 300 | |a xvi, 528 Seiten |b Illustrationen, Diagramme |c Breite 177mm, Höhe 253mm | ||
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Record in the Search Index
| _version_ | 1804177571933323264 |
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Contents
Foreword by Roger Brockett
Foreword by Matthew Mason
Preface
Preview
Configuration Space
2.1 Degrees of Freedom of a Rigid Body
2.2 Degrees of Freedom of a Robot
2.3 Configuration Space: Topology and Representation
2.4 Configuration and Velocity Constraints
2.5 Task Space and Workspace
2.6 Summary
2.7 Notes and References
2.8 Exercises
Rigid-Body Motions
3.1 Rigid-Body Motions in the Plane
3.2 Rotations and Angular Velocities
3.3 Rigid-Body Motions and Twists
3.4 Wrenches
3.5 Summary
3.6 Software
3.7 Notes and References
3.8 Exercises
Forward Kinematics
4.1 Product of Exponentials Formula
4.2 The Universal Robot Description Format
4.3 Summary
4.4 Software
4.5 Notes and References
4.6 Exercises
vl Contents
5 Velocity Kinematics and Statics 146
5.1 Manipulator Jacobian 152
5.2 Statics of Open Chains 162
5.3 Singularity Analysis 163
5.4 Manipulability 168
5.5 Summary 171
5.6 Software 172
5.7 Notes and References 172
5.8 Exercises 173
6 Inverse Kinematics 187
6.1 Analytic Inverse Kinematics 189
6.2 Numerical Inverse Kinematics 193
6.3 Inverse Velocity Kinematics 199
6.4 A Note on Closed Loops 200
6.5 Summary 201
6.6 Software 201
6.7 Notes and References 202
6.8 Exercises 202
7 Kinematics of Closed Chains 209
7.1 Inverse and Forward Kinematics 210
7.2 Differential Kinematics 215
7.3 Singularities 219
7.4 Summary 223
7.5 Notes and References 224
7.6 Exercises 225
8 Dynamics of Open Chains 231
8.1 Lagrangian Formulation 232
8.2 Dynamics of a Single Rigid Body 241
8.3 Newton-Euler Inverse Dynamics 248
8.4 Dynamic Equations in Closed Form 252
8.5 Forward Dynamics of Open Chains 255
8.6 Dynamics in the Task Space 256
8.7 Constrained Dynamics 257
8.8 Robot Dynamics in the URDF 259
8.9 Actuation, Gearing, and Friction 259
8.10 Summary 269
8.11 Software 273
8.12 Notes and References 274
8.13 Exercises 275
Contents vii
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Trajectory Generation 278
9.1 Definitions 278
9.2 Point-to-Point Trajectories 279
9.3 Polynomial Via Point Trajectories 285
9.4 Time-Optimal Time Scaling 287
9.5 Summary 295
9.6 Software 296
9.7 Notes and References 297
9.8 Exercises 298
Motion Planning 302
10.1 Overview of Motion Planning 302
10.2 Foundations 306
10.3 Complete Path Planners 315
10.4 Grid Methods 316
10.5 Sampling Methods 323
10.6 Virtual Potential Fields 329
10.7 Nonlinear Optimization 336
10.8 Smoothing 337
10.9 Summary 338
10.10 Notes and References 340
10.11 Exercises 341
Robot Control 345
11.1 Control System Overview 346
11.2 Error Dynamics 346
11.3 Motion Control with Velocity Inputs 354
11.4 Motion Control with Torque or Force Inputs 360
11.5 Force Control 372
11.6 Hybrid Motion-Force Control 374
11.7 Impedance Control 378
11.8 Low-Level Joint Force-Torque Control 381
11.9 Other Topics 383
11.10 Summary 385
11.11 Software 38 7
11.12 Notes and References 388
11.13 Exercises 389
Grasping and Manipulation 396
12.1 Contact Kinematics 397
12.2 Contact Forces and Friction 415
12.3 Manipulation 425
12.4 Summary 431
12.5 Notes and References 432
12.6 Exercises 433
viii Contents
13 Wheeled Mobile Robots 441
13.1 Types of Wheeled Mobile Robots 441
13.2 Omnidirectional Wheeled Mobile Robots 443
13.3 Nonholonomic Wheeled Mobile Robots 448
13.4 Odometry 469
13.5 Mobile Manipulation 471
13.6 Summary 474
13.7 Notes and References 476
13.8 Exercises 477
A Summary of Useful Formulas 486
B Other Representations of Rotations 493
C Denavit-Hartenberg Parameters 502
D Optimization and Lagrange Multipliers 512
Bibliography 515
Index
524
Modern Robotics
Mechanics, Planning, and Control
This introduction to robotics offers a distinct and unified perspective of the mechanics,
planning, and control of robots. It is ideal for self-learning, or for courses, as it assumes
only freshman-level physics, ordinary differential equations, linear algebra, and a little
bit of computing background. Modern Robotics:
• Presents the state-of-the-art screw-theoretic techniques capturing the most salient
physical features of a robot in an intuitive geometrical way;
• Includes numerous exercises at the end of each chapter;
• Has accompanying, freely-downloadable software written to reinforce book concepts;
• Provides freely-downloadable video lectures aimed at changing the classroom expe-
rience, which students can watch in their own time, whilst class time is focused
on collaborative problem-solving;
• Offers instructors the opportunity to design both one- and two-semester courses
tailored to emphasize a range of topics, such as kinematics of robots and wheeled
vehicles, kinematics and motion planning, mechanics of manipulation, and robot
control;
• Can be used either with courses or for self-learning.
Kevin M. Lynch received his B.S.E. in Electrical Engineering from Princeton, New
Jersey in 1989, and Ph.D. in Robotics from Carnegie Mellon University, Pennsylvania in
1996. He has been a faculty member at Northwestern University, Illinois since 1997 and
has held visiting positions at California Institute of Technology, Carnegie Mellon Uni-
versity, Tsukuba University, Japan and Northeastern University in Shenyang, China.
His research focuses on dynamics, motion planning and control for robot manipulation
and locomotion; self-organizing multi-agent systems; and physically interacting human-
robot systems. A Fellow of the Institute of Electrical and Electronics Engineers (IEEE),
he also was the recipient of the IEEE Early Career Award in Robotics and Automation,
Northwestern’s Professorship of Teaching Excellence, and the Northwestern Teacher of
the Year award in engineering. Currently he is Senior Editor of the IEEE Robotics
and Automation Letters, and the incoming Editor-in-Chief of the IEEE International
Conference on Robotics and Automation. This is his third book.
Frank C. Park received his B.S. in Electrical Engineering from Massachusetts
Institute of Technology in 1985, and his Ph.D. in Applied Mathematics from Har-
vard University, Massachusetts in 1991. He has been on the faculty at University of
California, Irvine and since 1995 he has been Professor of Mechanical and Aerospace
Engineering at Seoul National University. His research interests are in robot mechan-
ics, planning and control, vision and image processing, and related areas of applied
mathematics. He has been an Institute of Electrical and Electronics Engineers (IEEE)
Robotics and Automation Society Distinguished Lecturer and has held adjunct faculty
positions at the Courant Institute of Mathematical Sciences, New York, the Interac-
tive Computing Department at Georgia Institute of Technology and the Hong Kong
University of Science and Technology Robotics Institute. He is a Fellow of the IEEE,
Editor-in-Chief of the IEEE Transactions on Robotics, and developer of the EDX course
Robot Mechanics and Control I, II.
|
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| spelling | Lynch, Kevin M. Verfasser (DE-588)1127076159 aut Modern robotics mechanics, planning, and control Kevin M. Lynch, Northwestern University and Frank C. Park, Seoul National University Cambridge, United Kingdom ; New York, USA ; Port Melbourne, Australia ; New Delhi, India ; Singapore Cambridge University Press 2017 xvi, 528 Seiten Illustrationen, Diagramme Breite 177mm, Höhe 253mm txt rdacontent n rdamedia nc rdacarrier Literaturverzeichnis Seite [515]-523. Hier auch später erschienene, unveränderte Nachdrucke. Robotik (DE-588)4261462-4 gnd rswk-swf Robotik (DE-588)4261462-4 s DE-604 Park, Frank C. Verfasser aut Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029742689&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth - ADAM Catalogue Enrichment application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029742689&sequence=000002&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
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| title | Modern robotics mechanics, planning, and control |
| title_auth | Modern robotics mechanics, planning, and control |
| title_exact_search | Modern robotics mechanics, planning, and control |
| title_full | Modern robotics mechanics, planning, and control Kevin M. Lynch, Northwestern University and Frank C. Park, Seoul National University |
| title_fullStr | Modern robotics mechanics, planning, and control Kevin M. Lynch, Northwestern University and Frank C. Park, Seoul National University |
| title_full_unstemmed | Modern robotics mechanics, planning, and control Kevin M. Lynch, Northwestern University and Frank C. Park, Seoul National University |
| title_short | Modern robotics |
| title_sort | modern robotics mechanics planning and control |
| title_sub | mechanics, planning, and control |
| topic | Robotik (DE-588)4261462-4 gnd |
| topic_facet | Robotik |
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