Foundations of Robotics: Analysis and Control
Language: English
Published by The MIT Press, 1990
- Hardcover
- Used
Seller: Anybook.com, Lincoln, United KingdomAnybook.com
AbeBooks seller since December 22, 1999
Condition: Used - Good
US$ 44.56
Quantity: 1 available
Add to basketItem description from seller
This is an ex-library book and may have the usual library/used-book markings inside.This book has hardback covers. In good all round condition. No dust jacket. Please note the Image in this listing is a stock photo and may not match the covers of the actual item,700grams, ISBN:0262240289.
Seller Inventory # 5762854
- Title
- Foundations of Robotics: Analysis and Control
- Author
- Yoshikawa, T.
- Publisher
- The MIT Press
- Publication year
- 1990
- Condition
- Good
- Binding
- Hardcover
- Language
- English
- ISBN 10
- 0262240289
- ISBN 13
- 9780262240284
- Item weight
- 700 grams
- Seller catalogs
- Science & Technology
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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Anybook.com
Lincoln, United Kingdom
AbeBooks seller since December 22, 1999
Shipping rates from United Kingdom to U.S.A.
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