Modern robotics : mechanics, planning and control
Kevin Lynch
Bok · Engelsk · 2017
| Medvirkende | |
|---|---|
| Utgitt | Cambridge : Cambridge University Press , 2017
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| Omfang | XVI, 528 s. : ill., fig.
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| Opplysninger | 1. Preview; 2. Configuration space; 3. Rigid-body motions; 4. Forward kinematics; 5. Velocity kinematics and statics; 6. Inverse kinematics; 7. Kinematics of closed chains; 8. Dynamics of open chains; 9. Trajectory generation; 10. Motion planning; 11. Robot control; 12. Grasping and manipulation; 13. Wheeled mobile robots; Appendix A. Summary of useful formulas; Appendix B. Other representations of rotations; Appendix C. Denavit-Hartenberg parameters; Appendix D. Optimization and Lagrange multipliers. - This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. 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.
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| Emner | |
| Dewey | |
| ISBN | 9781107156302. - 9781316609842
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