Foundations of robotics : analysis and control

Tsuneo Yoshikawa

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability.The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.

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書名 Foundations of robotics : analysis and control
著作者等 吉川 恒夫
Yoshikawa Tsuneo
書名別名 ロボット制御基礎論

Robotto seigyo kisoron
出版元 MIT Press
刊行年月 c1990
ページ数 x, 285 p.
大きさ 24 cm
ISBN 0262240289
NCID BA10642915
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言語 英語
原文言語 日本語
出版国 アメリカ合衆国