Robotics Modeling and Control

Mark W. Spong, Seth Hutchinson, M. Vidyasagar

490 pages, parution le 22/12/2005

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Résumé

Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.

Key Features

A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.
Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.
An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.
The most common motion planning and trajectory generation algorithms are presented in an elementary style.
The comprehensive treatment of motion and force control includes both basic and advanced methods.
The text's treatment of geometric nonlinear control is more readable than in more advanced texts.
Many worked examples and an extensive list of problems illustrate all aspects of the theory.

L'auteur - Seth Hutchinson

Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.

L'auteur - M. Vidyasagar

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India's Ministry of Defense.

Sommaire

Introduction
Rigid Motions and Homogeneous Transformations
Forward and Inverse Kinematics
Velocity Kinematics-The Jacobian
Path and Trajectory Planning
Independent Joint Control
Dynamics
Multivariable Control
Force Control
Geometric Nonlinear Control
Computer Vision
Vision-Based Control
Appendix A: Trigonometry
Appendix B: Linear Algebra
Appendix C: Dynamical Systems
Appendix D: Lyapunov Stability

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Caractéristiques techniques

	PAPIER
Éditeur(s)	Wiley
Auteur(s)	Mark W. Spong, Seth Hutchinson, M. Vidyasagar
Parution	22/12/2005
Nb. de pages	490
Format	20 x 24,5
Couverture	Relié
Poids	900g
Intérieur	Noir et Blanc
EAN13	9780471649908
ISBN13	978-0-471-64990-8