This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.
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This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.
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4 of 4 people found the following review helpful:
5.0 out of 5 stars
THE book to start learning about industrial robotics,
By A Customer
This review is from: Robot Dynamics and Control (Paperback)
Having read this book from cover to cover, I can easily conclude that this book is surely THE start for anybody who wants to learn more about industrial manipulators. As a student in Mechatronics at The Fontys Hogeschool Eindhoven, I was supprised by the simplicity in witch the authors explain real 'hardcore' manipulator problems. The book starts with a very good basic explanation of motion represenatation witch are common used in manipulator engineering. To understand the book, you are to read all the chapters after eachother. The best thing about the book is that the methods and techniques are very 'compatible' to other resources (unlike most of the book about manipulators). Another very usefull thing is the ammount of references given after each chapter for the people who never stop thinking when they are interrested...Want to hear more? Mail me on: Boerlage@cyberdude.com
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Inside This Book
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Key Phrases - Statistically Improbable Phrases (SIPs):
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inverse position kinematics, frame ooxoyozo, frame oxoyozo, cubic polynomial trajectory, elbow manipulator, adaptive inverse dynamics, independent joint control, feedback linearizing control, outer loop design, inverse dynamics control, dynamics control law, spherical manipulator, three joint variables, spherical wrist, forward kinematic equations, cartesian manipulator, cylindrical manipulator, compliance frame, loop control law, inner loop control, rigid manipulators, nonlinear control law, variable structure systems, forward kinematics problem, planar manipulator Key Phrases - Capitalized Phrases (CAPs): (learn more)
New York, Cincinnati Milacron, Englewood Cliffs, Robotics Research, San Francisco, John Wiley, Adaptive Control of Mechanical Manipulators, Derive Equations, Las Vegas, Second Method of Lyapunov, Winter Annual Meeting, Mohsen Shahinpoor, Natural Constraints Artificial Constraints, Robot Engineering Textbook, Row Publishers, Silver Spring, United States, University of Illinois New!
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Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
inverse position kinematics, frame ooxoyozo, frame oxoyozo, cubic polynomial trajectory, elbow manipulator, adaptive inverse dynamics, independent joint control, feedback linearizing control, outer loop design, inverse dynamics control, dynamics control law, spherical manipulator, three joint variables, spherical wrist, forward kinematic equations, cartesian manipulator, cylindrical manipulator, compliance frame, loop control law, inner loop control, rigid manipulators, nonlinear control law, variable structure systems, forward kinematics problem, planar manipulator Key Phrases - Capitalized Phrases (CAPs): (learn more)
New York, Cincinnati Milacron, Englewood Cliffs, Robotics Research, San Francisco, John Wiley, Adaptive Control of Mechanical Manipulators, Derive Equations, Las Vegas, Second Method of Lyapunov, Winter Annual Meeting, Mohsen Shahinpoor, Natural Constraints Artificial Constraints, Robot Engineering Textbook, Row Publishers, Silver Spring, United States, University of Illinois New!
Books on Related Topics | Concordance | Text Stats Browse Sample Pages:
Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
Citations (learn more)
This book cites 6
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67
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- Decision and Control: Proceedings of the 38th IEEE Conference December 7-10, 1999 Crowne Plaza Hotel & Resort Phoenix, Arizona, USA (Ieee Conference ... the Ieee Conference on Decision and Control) by IEEE on 5 pages
- Robot Analysis and Control by H. Asada on page 246, page 247, and page 248
- A Robot Engineering Textbook by Mohsen Shahinpoor on page 20, and page 90
- The Oxford English Dictionary Additions: 3 Volume Set by Oxford University Press on page 28
- Automatic Control Systems by Benjamin C. Kuo on page 170
See all 6 books this book cites
- Nonlinear Control of Electric Machinery (Automation and Control Engineering) by Dawson on 9 pages
- Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) by Lorenzo Sciavicco on 5 pages
- Robotics and Automation Handbook by Thomas R. Kurfess on 5 pages
- Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach (Control Engineering) by Warren E. Dixon on 4 pages
- Computer Aided Systems Theory - EUROCAST'99: A Selection of Papers from the 7th International Workshop on Computer Aided Systems Theory Vienna, ... (Lecture Notes in Computer Science) by Franz Pichler on page 238, and page 255
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