Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書 pdf 下載 txt下載 epub 下載 mobi 下載 2024

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Dombre, E. (EDT)/ Khalil, W. (EDT) 作者

Paul & Co Pub Consortium

譯者

2006-5 出版日期

398 頁數

3030.80元價格

HRD

叢書系列

9781905209101 圖書編碼

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發表於2024-11-08

Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書 epub 下載 mobi 下載 pdf 下載 txt 下載 2024

Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書 epub 下載 pdf 下載 mobi 下載 txt 下載 2024

Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書 pdf 下載 txt下載 epub 下載 mobi 下載 2024

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Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書 pdf 下載 txt下載 epub 下載 mobi 在線電子書下載

Modeling, Performance Analysis and Control of Robot Manipulators 在線電子書圖書描述

This book presents the most recent research results on modeling and control of robot manipulators.*Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.*Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.*Chapter 3 introduces global and local tools for performance analysis of serial robots.*Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.*Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).* In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

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