Robot modeling and control 2nd edition pdf

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robot modeling and control 2nd edition pdf

Robot Modeling and Control | Kinematics | Robot

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Published 23.05.2019

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Modelling and Control of Robot Manipulators

Content in short : The course consists of twenty lectures and suggests an introduction to fundamentals of robotics. It includes elements of modeling kinematics, dynamics, motion planning of mechanical systems, introduction to problems in computer vision as well as a comprehensive discussion of control methods used for various robotics applications. Topics in Kinematics : description of position and orientation of rigid bodies, the Denavit-Hartenberg convention, forward and inverse kinematics for industrial manipulators, the velocity transformations, singularities, kinematics for vehicles and mobile robots. Topics in Dynamics : dynamics of rigid bodies, reference frames in relative motion, equations of motion for manipulators and vehicles in closed and recursive form, elasticity. Topics in Motion Planning :point-to-point motions, interpolation and path primitives, localization of robots, mapping a robot environment, planning trajectories for mechanical systems with passive degrees of freedom.

It seems that you're in Germany. We have a dedicated site for Germany. Authors: Sciavicco , Lorenzo, Siciliano , Bruno. Fundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space. Technological aspects include actuators, sensors, hardware- and software-control architectures and industrial robot-control algorithms.


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