design of collision detection and obstacle avoidance robot using 8051 microcontrollerFull description
robotics
manufactura
Solucionario del Libro "Procesos de Manufactura" Groover.
Solucionario del Libro "Procesos de Manufactura" Groover.
hydraulics and pneumatics 2nd unit , a c niranjan
sample plan
hydraulics and pneumatics 2nd unit , a c niranjan
Solucionario del Libro "Procesos de Manufactura" Groover.
respuestas del capitulo 10Full description
Descripción: Solucionario del Libro "Procesos de Manufactura" Groover.
Solucionario problemas capitulo 26 Grover en españolDescripción completa
sEC COLLOGE NOTES
roboticsFull description
Full description
L. Sciavicco and B. Siciliano
Modelling and Control of Robot Manipulators Second Edition With 190 Figures
Springer
Table of Contents
1.
Introduction 1.1 Robotics 1.2 Industrial Robot 1.3 Manipulator Structures 1.4 Modelling and Control of Robot Manipulators 1.4.1 Modelling 1.4.2 Control 1.5 Bibliographical Reference Texts
1 1 3 6 14 15 15 16
2.
Kinematics 2.1 Position and Orientation of a Rigid Body 2.2 Rotation Matrix 2.2.1 Elementary Rotations 2.2.2 Representation of a Vector 2.2.3 Rotation of a Vector 2.3 Composition of Rotation Matrices 2.4 Euler Angles 2.4.1 ZYZ Angles 2.4.2 Roll-Pitch-Yaw Angles 2.5 Angle and Axis 2.6 Unit Quaternion 2.7 Homogeneous Transformations 2.8 Direct Kinematics 2.8.1 Open Chain 2.8.2 Denavit-Hartenberg Convention 2.8.3 Closed Chain 2.9 Kinematics of Typical Manipulator Structures 2.9.1 Three-link Planar Arm 2.9.2 Parallelogram Arm 2.9.3 Spherical Arm 2.9.4 Anthropomorphic Arm 2.9.5 Spherical Wrist 2.9.6 Stanford Manipulator 2.9.7 Anthropomorphic Arm with Spherical Wrist 2.10 Joint Space and Operational Space 2.10.1 Workspace
Table of Contents 2.10.2 Kinematic Redundancy 2.11 Kinematic Calibration 2.12 Inverse Kinematics Problem 2.12.1 Solution of Three-link Planar Arm 2.12.2 Solution of Manipulators with Spherical Wrist 2.12.3 Solution of Spherical Arm 2.12.4 Solution of Anthropomorphic Arm 2.12.5 Solution of Spherical Wrist Problems Bibliography
63 64 66 67 70 71 72 73 74 76
3.
Differential Kinematics and Statics* 3.1 Geometric Jacobian 3.1.1 Derivative of a Rotation Matrix 3.1.2 Link Velocity 3.1.3 Jacobian Computation 3.2 Jacobian of Typical Manipulator Structures 3.2.1 Three-link Planar Arm 3.2.2 Anthropomorphic Arm 3.2.3 Stanford Manipulator 3.3 Kinematic Singularities 3.3.1 Singularity Decoupling 3.3.2 Wrist Singularities 3.3.3 Arm Singularities 3.4 Analysis of Redundancy 3.5 Differential Kinematics Inversion 3.5.1 Redundant Manipulators 3.5.2 Kinematic Singularities 3.6 Analytical Jacobian 3.7 Inverse Kinematics Algorithms 3.7.1 Jacobian (Pseudo-)Inverse 3.7.2 Jacobian Transpose 3.7.3 Orientation Error 3.7.4 A Comparison Between Inverse Kinematics Algorithms .. 3.8 Statics 3.8.1 Kineto-statics Duality 3.8.2 Velocity and Force Transformation 3.8.3 Closed Chain 3.9 Manipulability Ellipsoids Problems Bibliography
Dynamics 4.1 Lagrange Formulation 4.1.1 Computation of Kinetic Energy 4.1.2 Computation of Potential Energy 4.1.3 Equations of Motion
131 131 133 139 140
Table of Contents 4.2
4.3
4.4 4.5
4.6 4.7 4.8
Notable Properties of Dynamic Model* 4.2.1 Skew-symmetryofMatrixB-2C 4.2.2 Linearity in the Dynamic Parameters Dynamic Model of Simple Manipulator Structures 4.3.1 Two-link Cartesian Arm 4.3.2 Two-link Planar Arm 4.3.3 Parallelogram Arm Dynamic Parameter Identification* Newton-Euler Formulation* 4.5.1 Link Acceleration 4.5.2 Recursive Algorithm 4.5.3 Example Direct Dynamics and Inverse Dynamics* Operational Space Dynamic Model* Dynamic Manipulability Ellipsoid* Problems Bibliography
Trajectory Planning 5.1 Path and Trajectory 5.2 Joint Space Trajectories 5.2.1 Point-to-point Motion 5.2.2 Path Motion 5.3 Operational Space Trajectories 5.3.1 Path Primitives 5.3.2 Position 5.3.3 Orientation 5.4 Dynamic Scaling of Trajectories Problems Bibliography
185 185 186 187 192 202 203 207 208 209 211 212
6.
Motion Control 6.1 The Control Problem 6.2 Joint Space Control 6.3 Independent Joint Control 6.3.1 Feedback Control 6.3.2 Decentralized Feedforward Compensation 6.4 Computed Torque Feedforward Control 6.5 Centralized Control* 6.5.1 PD Control with Gravity Compensation 6.5.2 Inverse Dynamics Control 6.5.3 Robust Control 6.5.4 Adaptive Control 6.6 Operational Space Control* 6.6.1 General Schemes 6.6.2 PD Control with Gravity Compensation 6.6.3 Inverse Dynamics Control
A Comparison Between Various Control Schemes* Problems Bibliography
256 263 268
7.
Interaction Control* 7.1 Manipulator Interaction with Environment 7.2 Compliance Control 7.3 Impedance Control 7.4 Force Control 7.4.1 Force Control with Inner Position Loop 7.4.2 Force Control with Inner Velocity Loop 7.4.3 Parallel Force/Position Control 7.5 Natural Constraints and Artificial Constraints 7.5.1 Case Studies 7.6 Hybrid Force/Position Control Problems Bibliography
Appendix A. Linear Algebra A.I Definitions A.2 Matrix Operations
335 335 337
Table of Contents A.3 A.4 A.5 A.6 A.7 A.8
Vector Operations Linear Transformations Eigenvalues and Eigenvectors Bilinear Forms and Quadratic Forms Pseudo-inverse Singular Value Decomposition Bibliography
xxiii 341 344 345 345 347 348 349
Appendix B. Rigid Body Mechanics B.I Kinematics B.2 Dynamics B.3 Work and Energy B.4 Constrained Systems Bibliography
351 351 353 356 356 359
Appendix C. Feedback Control C.I Control of Single-input/Single-outputLinear Systems C.2 Control of Nonlinear Mechanical Systems C.3 Lyapunov Direct Method Bibliography