Titlebook: Robotics; Modelling, Planning Bruno Siciliano,Lorenzo Sciavicco,Giuseppe Oriolo Textbook 2009 Springer-Verlag London 2009 actuator.algorit

Heel-Spur

书目名称Robotics影响因子(影响力)




书目名称Robotics影响因子(影响力)学科排名




书目名称Robotics网络公开度




书目名称Robotics网络公开度学科排名




书目名称Robotics被引频次




书目名称Robotics被引频次学科排名




书目名称Robotics年度引用




书目名称Robotics年度引用学科排名




书目名称Robotics读者反馈




书目名称Robotics读者反馈学科排名

Overstate

Introduction,fered by .. A classification of the most common mechanical structures of . and . is presented. Topics of ., . and . are introduced which will be examined in the following chapters. The chapter ends with a list of references dealing with subjects both of specific interest and of related interest to those covered by this textbook.

tolerance

Textbook 2009ol of Robot Manipulators. by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised

FOLD

Introduction,on making. The goal of the introductory chapter is to point out the problems related to the use of . in . applications, as well as the perspectives offered by .. A classification of the most common mechanical structures of . and . is presented. Topics of ., . and . are introduced which will be exami

Foam-Cells

Kinematics,.. One end of the chain is constrained to a base, while an . is mounted to the other end. The resulting motion of the structure is obtained by composition of the elementary motions of each link with respect to the previous one. Therefore, in order to manipulate an object in space, it is necessary to

伪造者

Differential Kinematics and Statics,ere derived. In this chapter, . is presented which gives the relationship between the joint velocities and the corresponding end-effector linear and angular velocity. This mapping is described by a matrix, termed ., which depends on the manipulator configuration. Alternatively, if the end-effector p

推延

Trigger-Point

Actuators and Sensors,power amplifier, servomotor and transmission. In view of their control versatility, two types of servomotors are used, namely, . for actuating the joints of small and medium size manipulators, and . for actuating the joints of large size manipulators. The models describing the input/output relations

重力

Dynamics,ithms. Simulating manipulator motion allows control strategies and motion planning techniques to be tested without the need to use a physically available system. The analysis of the dynamic model can be helpful for mechanical design of prototype arms. Computation of the forces and torques required f

可忽略

Motion Control,oblem of controlling a manipulator can be formulated as that to determine the time history of the generalized forces (forces or torques) to be developed by the joint actuators, so as to guarantee execution of the commanded task while satisfying given transient and steady-state requirements. The task