Foundations of robotics : analysis and control
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 alg...
Ausführliche Beschreibung
Gespeichert in:
| Werktitel: |
Robotto seigyo kisoron [Yoshikawa, Tsuneo, 1941-] |
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| Autor*in: |
Yoshikawa, Tsuneo - 1941- [verfasserIn] |
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| Format: |
E-Book |
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| Sprache: |
Englisch |
| Erschienen: |
Cambridge, Massachusetts: MIT Press ; c1990 |
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| Schlagwörter: |
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| Anmerkung: |
Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 |
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| Umfang: |
1 PDF (x, 285 pages) ; illustrations. |
| Beschreibung: |
Mode of access: World Wide Web. |
| Links: | |
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| ISBN: |
978-0-262-28654-1 |
| Katalog-ID: |
1727349377 |
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| 520 | |a 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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| author_variant |
t y ty |
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| matchkey_str |
book:9780262286541:2003---- |
| oclc_num |
1196113574 |
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c1990 |
| publishDate |
2003 |
| allfields |
9780262286541 electronic 978-0-262-28654-1 (DE-627)1727349377 (DE-599)KEP055119700 (OCoLC)1196113574 (MITPRESS)6267451 (EBP)055119700 DE-627 ger DE-627 rda eng Yoshikawa, Tsuneo 1941- verfasserin aut Robotto seigyo kisoron Foundations of robotics analysis and control Tsuneo Yoshikawa Cambridge, Massachusetts MIT Press c1990 1 PDF (x, 285 pages) illustrations. Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 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. Mode of access: World Wide Web. Robotics 9780262514583 Erscheint auch als Druck-Ausgabe 9780262514583 https://ieeexplore.ieee.org/book/6267451 X:MITPRESS Verlag lizenzpflichtig ZDB-37-IEM 2012 GBV_ILN_22 ISIL_DE-18 SYSFLAG_1 GBV_KXP GBV_ILN_22_i22818 GBV_ILN_23 ISIL_DE-830 GBV_ILN_100 ISIL_DE-Ma9 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2015 ISIL_DE-93 BO 22 01 0018 384847543X olrm-h228-MITIEEE zi22818 03-02-21 23 01 0830 395724093X olr-MIT i z 23-07-21 100 01 3100 4472468042 09 --%%-- eBook MIT Press --%%-- --%%-- OLR-MIT-CEC Vervielfältigungen (z.B. Kopien, Downloads) sind nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. z 30-01-24 370 01 4370 4011222356 olr-ebook mitieee Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 01-12-21 2015 01 DE-93 3740751223 00 --%%-- --%%-- p --%%-- Campuslizenz l01 18-08-20 22 01 0018 Volltextzugang Campus https://ieeexplore.ieee.org/book/6267451 22 01 0018 Nur für Angehörige der Universität Hamburg: Volltextzugang von außerhalb des Campus http://emedien.sub.uni-hamburg.de/han/ieee/ieeexplore.ieee.org/book/6267451 23 01 0830 MIT Press EBook https://ieeexplore.ieee.org/book/6267451 100 01 3100 https://ieeexplore.ieee.org/book/6267451 100 01 3100 für Uniangehörige: Zugang weltweit http://han.med.uni-magdeburg.de/han/mitvia-ieee/ieeexplore.ieee.org/book/6267451 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://ieeexplore.ieee.org/book/6267451 2015 01 DE-93 https://ieeexplore.ieee.org/book/6267451 23 01 0830 2018-01805, 2018-01806, 2018-01808 22 01 0018 olrm-h228-MITIEEE 23 01 0830 olr-MIT 100 01 3100 OLR-MIT-CEC 370 01 4370 olr-ebook mitieee 370 01 4370 2021.12.01 |
| spelling |
9780262286541 electronic 978-0-262-28654-1 (DE-627)1727349377 (DE-599)KEP055119700 (OCoLC)1196113574 (MITPRESS)6267451 (EBP)055119700 DE-627 ger DE-627 rda eng Yoshikawa, Tsuneo 1941- verfasserin aut Robotto seigyo kisoron Foundations of robotics analysis and control Tsuneo Yoshikawa Cambridge, Massachusetts MIT Press c1990 1 PDF (x, 285 pages) illustrations. Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 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. Mode of access: World Wide Web. Robotics 9780262514583 Erscheint auch als Druck-Ausgabe 9780262514583 https://ieeexplore.ieee.org/book/6267451 X:MITPRESS Verlag lizenzpflichtig ZDB-37-IEM 2012 GBV_ILN_22 ISIL_DE-18 SYSFLAG_1 GBV_KXP GBV_ILN_22_i22818 GBV_ILN_23 ISIL_DE-830 GBV_ILN_100 ISIL_DE-Ma9 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2015 ISIL_DE-93 BO 22 01 0018 384847543X olrm-h228-MITIEEE zi22818 03-02-21 23 01 0830 395724093X olr-MIT i z 23-07-21 100 01 3100 4472468042 09 --%%-- eBook MIT Press --%%-- --%%-- OLR-MIT-CEC Vervielfältigungen (z.B. Kopien, Downloads) sind nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. z 30-01-24 370 01 4370 4011222356 olr-ebook mitieee Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 01-12-21 2015 01 DE-93 3740751223 00 --%%-- --%%-- p --%%-- Campuslizenz l01 18-08-20 22 01 0018 Volltextzugang Campus https://ieeexplore.ieee.org/book/6267451 22 01 0018 Nur für Angehörige der Universität Hamburg: Volltextzugang von außerhalb des Campus http://emedien.sub.uni-hamburg.de/han/ieee/ieeexplore.ieee.org/book/6267451 23 01 0830 MIT Press EBook https://ieeexplore.ieee.org/book/6267451 100 01 3100 https://ieeexplore.ieee.org/book/6267451 100 01 3100 für Uniangehörige: Zugang weltweit http://han.med.uni-magdeburg.de/han/mitvia-ieee/ieeexplore.ieee.org/book/6267451 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://ieeexplore.ieee.org/book/6267451 2015 01 DE-93 https://ieeexplore.ieee.org/book/6267451 23 01 0830 2018-01805, 2018-01806, 2018-01808 22 01 0018 olrm-h228-MITIEEE 23 01 0830 olr-MIT 100 01 3100 OLR-MIT-CEC 370 01 4370 olr-ebook mitieee 370 01 4370 2021.12.01 |
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9780262286541 electronic 978-0-262-28654-1 (DE-627)1727349377 (DE-599)KEP055119700 (OCoLC)1196113574 (MITPRESS)6267451 (EBP)055119700 DE-627 ger DE-627 rda eng Yoshikawa, Tsuneo 1941- verfasserin aut Robotto seigyo kisoron Foundations of robotics analysis and control Tsuneo Yoshikawa Cambridge, Massachusetts MIT Press c1990 1 PDF (x, 285 pages) illustrations. Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 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. Mode of access: World Wide Web. Robotics 9780262514583 Erscheint auch als Druck-Ausgabe 9780262514583 https://ieeexplore.ieee.org/book/6267451 X:MITPRESS Verlag lizenzpflichtig ZDB-37-IEM 2012 GBV_ILN_22 ISIL_DE-18 SYSFLAG_1 GBV_KXP GBV_ILN_22_i22818 GBV_ILN_23 ISIL_DE-830 GBV_ILN_100 ISIL_DE-Ma9 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2015 ISIL_DE-93 BO 22 01 0018 384847543X olrm-h228-MITIEEE zi22818 03-02-21 23 01 0830 395724093X olr-MIT i z 23-07-21 100 01 3100 4472468042 09 --%%-- eBook MIT Press --%%-- --%%-- OLR-MIT-CEC Vervielfältigungen (z.B. Kopien, Downloads) sind nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. z 30-01-24 370 01 4370 4011222356 olr-ebook mitieee Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 01-12-21 2015 01 DE-93 3740751223 00 --%%-- --%%-- p --%%-- Campuslizenz l01 18-08-20 22 01 0018 Volltextzugang Campus https://ieeexplore.ieee.org/book/6267451 22 01 0018 Nur für Angehörige der Universität Hamburg: Volltextzugang von außerhalb des Campus http://emedien.sub.uni-hamburg.de/han/ieee/ieeexplore.ieee.org/book/6267451 23 01 0830 MIT Press EBook https://ieeexplore.ieee.org/book/6267451 100 01 3100 https://ieeexplore.ieee.org/book/6267451 100 01 3100 für Uniangehörige: Zugang weltweit http://han.med.uni-magdeburg.de/han/mitvia-ieee/ieeexplore.ieee.org/book/6267451 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://ieeexplore.ieee.org/book/6267451 2015 01 DE-93 https://ieeexplore.ieee.org/book/6267451 23 01 0830 2018-01805, 2018-01806, 2018-01808 22 01 0018 olrm-h228-MITIEEE 23 01 0830 olr-MIT 100 01 3100 OLR-MIT-CEC 370 01 4370 olr-ebook mitieee 370 01 4370 2021.12.01 |
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Foundations of robotics analysis and control |
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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. Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 |
| abstractGer |
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. Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 |
| abstract_unstemmed |
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. Includes bibliographical references and index. - Description based on PDF viewed 12/23/2015 |
| collection_details |
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| title_short |
Foundations of robotics |
| url |
https://ieeexplore.ieee.org/book/6267451 |
| ausleihindikator_str_mv |
22 23 100:- 370 2015:p |
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| title_alt |
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| callnumber-a |
eBook MIT Press |
| up_date |
2024-07-04T22:59:03.420Z |
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