Robot Modeling and Control

ISBN-10: 0471649902
ISBN-13: 9780471649908
Edition: 2006
List price: $173.95 Buy it from $87.51 Rent it from $63.52
This item qualifies for FREE shipping

*A minimum purchase of $35 is required. Shipping is provided via FedEx SmartPost® and FedEx Express Saver®. Average delivery time is 1 – 5 business days, but is not guaranteed in that timeframe. Also allow 1 - 2 days for processing. Free shipping is eligible only in the continental United States and excludes Hawaii, Alaska and Puerto Rico. FedEx service marks used by permission."Marketplace" orders are not eligible for free or discounted shipping.

30 day, 100% satisfaction guarantee

If an item you ordered from TextbookRush does not meet your expectations due to an error on our part, simply fill out a return request and then return it by mail within 30 days of ordering it for a full refund of item cost.

Learn more about our returns policy

Description: The field of robotics is rapidly expanding with renewed interest in industrial and commercial applications such as robot vacuums and space explorers. Incorporating the current state of research and development, this unique book arms readers with a  More...

Used Starting from $87.51
New Starting from $159.25
Rent Starting from $63.52
what's this?
Rush Rewards U
Members Receive:
coins
coins
You have reached 400 XP and carrot coins. That is the daily max!

Study Briefs

Limited time offer: Get the first one free! (?)

All the information you need in one place! Each Study Brief is a summary of one specific subject; facts, figures, and explanations to help you learn faster.

Add to cart
Study Briefs
History of Western Art Online content $4.95 $1.99
Add to cart
Study Briefs
History of World Philosophies Online content $4.95 $1.99
Add to cart
Study Briefs
American History Volume 1 Online content $4.95 $1.99

Customers also bought

Loading
Loading
Loading
Loading
Loading
Loading
Loading
Loading
Loading
Loading

Book details

List price: $173.95
Copyright year: 2006
Publisher: John Wiley & Sons, Incorporated
Publication date: 11/18/2005
Binding: Hardcover
Pages: 496
Size: 7.50" wide x 9.25" long x 0.75" tall
Weight: 2.332
Language: English

The field of robotics is rapidly expanding with renewed interest in industrial and commercial applications such as robot vacuums and space explorers. Incorporating the current state of research and development, this unique book arms readers with a broad understanding of the fundamentals. It provides them with in-depth information on such areas as velocity kinematics, path and trajectory planning, independent joint control, forced control, and vision-based control.

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.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.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.

Preface
Table of Contents
Introduction
Mathematical Modeling of Robots
Symbolic Representation of Robots
The Configuration Space
The State Space
The Workspace
Robots as Mechanical Devices
Classification of Robotic Manipulators
Robotic Systems
Accuracy and Repeatability
Wrists and End Effectors
Common Kinematic Arrangements
Articulated Manipulator (RRR)
Spherical Manipulator (RRP)
SCARA Manipulator (RRP)
Cylindrical Manipulator (RPP)
Cartesian Manipulator (PPP)
Parallel Manipulator
Outline of the Text
Problems
Notes and References
Rigid Motions and Homogeneous Transformations
Representing Positions
Representing Rotations
Rotation in the Plane
Rotations in Three Dimensions
Rotational Transformations
Similarity Transformations
Composition of Rotations
Rotation with Respect to the Current Frame
Rotation with Respect to the Fixed Frame
Rules for Composition of Rotational Transformations
Parameterizations of Rotations
Euler Angles
Roll, Pitch, Yaw Angles
Axis/Angle Representation
Rigid Motions
Homogeneous Transformations
Summary
Problems
Notes and References
Forward and Inverse Kinematics
Kinematic Chains
The Denavit-Hartenberg Convention
Existence and Uniqueness Issues
Assigning the Coordinate Frames
Examples
Inverse Kinematics
The General Inverse Kinematics Problem
Kinematic Decoupling
Inverse Position: A Geometric Approach
Articulated Configuration
Spherical Configuration
Inverse Orientation
Summary
Problems
Notes and References
Velocity Kinematics - The Jacobian
Angular Velocity: The Fixed Axis Case
Skew Symmetric Matrices
Properties of Skew Symmetric Matrices
The Derivative of a Rotation Matrix
Angular Velocity: The General Case
Addition of Angular Velocities
Linear Velocity of a Point Attached to a Moving Frame
Derivation of the Jacobian
Angular Velocity
Linear Velocity
Combining the Linear and Angular Velocity Jacobians
The Tool Velocity
The Analytical Jacobian
Singularities
Decoupling of Singularities
Wrist Singularities
Arm Singularities
Static Force/Torque Relationships
Inverse Velocity and Acceleration
Manipulability
Summary
Problems
Notes and References
Path and Trajectory Planning
The Configuration Space
Path Planning Using Potential Fields
The Attractive Field
The Repulsive Field
Mapping Workspace Forces to Joint Torques
Gradient Descent Planning
Escaping Local Minima
Probabilistic Roadmap Methods
Sampling the Configuration Space
Connecting Pairs of Configurations
Enhancement
Path Smoothing
Trajectory Planning
Trajectories for Point to Point Motion
Trajectories for Paths Specified by Via Points
Summary
Problems
Notes and References
Independent Joint Control
Actuator Dynamics
Independent Joint Model
Set-Point Tracking
PD Compensator
PID Compensator
The Effect of Saturation and Flexibility
Feedforward Control
Drive Train Dynamics
State Space Design
State Feedback Control
Observers
Summary
Problems
Notes and References
Dynamics
The Euler-Lagrange Equations
Motivation
Holonomic Constraints and Virtual Work
D'Alembert's Principle
Kinetic and Potential Energy
The Inertia Tensor
Kinetic Energy for an n-Link Robot
Potential Energy for an n-Link Robot
Equations of Motion
Some Common Configurations
Properties of Robot Dynamic Equations
Skew Symmetry and Passivity
Bounds on the Inertia Matrix
Linearity in the Parameters
Newton-Euler Formulation
Planar Elbow Manipulator Revisited
Summary
Problems
Notes and References
Multivariable Control
PD Control Revisited
The Effect of Joint Flexibility
Inverse Dynamics
Joint Space Inverse Dynamics
Task Space Inverse Dynamics
Robust and Adaptive Motion Control
Robust Inverse Dynamics
Adaptive Inverse Dynamics
Passivity-Based Motion Control
Passivity-Based Robust Control
Passivity-Based Adaptive Control
Summary
Problems
Notes and References
Force Control
Coordinate Frames and Constraints
Reciprocal Bases
Natural and Artificial Constraints
Network Models and Impedance
Impedance Operators
Classification of Impedance Operators
Thevenin and Norton Equivalents
Task Space Dynamics and Control
Task Space Dynamics
Impedance Control
Hybrid Impedance Control
Summary
Problems
Notes and References
Geometric Nonlinear Control
Background
Manifolds, Vector Fields, and Distributions
The Frobenius Theorem
Feedback Linearization
Single-Input Systems
Feedback Linearization for N-Link Robots
Nonholonomic Systems
Involutivity and Holonomy
Driftless Control Systems
Examples of Nonholonomic Systems
Chow's Theorem
Control of Driftless Systems
Summary
Problems
Notes and References
Computer Vision
The Geometry of Image Formation
The Camera Coordinate Frame
Perspective Projection
The Image Plane and the Sensor Array
Camera Calibration
Extrinsic Camera Parameters
Intrinsic Camera Parameters
Determining the Camera Parameters
Segmentation by Thresholding
A Brief Statistics Review
Automatic Threshold Selection
Connected Components
Position and Orientation
Moments
The Centroid of an Object and Central Moments
The Orientation of an Object
Summary
Problems
Notes and References
Vision-Based Control
Design Considerations
Camera Configuration
Image-Based vs. Position-Based Approaches
Camera Motion and the Interaction Matrix
The Interaction Matrix for Point Features
Velocity of a Fixed Point Relative to a Moving Camera
Constructing the Interaction Matrix
Properties of the Interaction Matrix for Points
The Interaction Matrix for Multiple Points
Image-Based Control Laws
Computing Camera Motion
Proportional Control Schemes
Performance of IBVS systems
End Effector and Camera Motions
Partitioned Approaches
Motion Perceptibility
Summary
Problems
Notes and References
Trigonometry
The Two-Argument Arctangent Function
Useful Trigonometric Formulas
Linear Algebra
Vectors
Differentiation of Vectors
Linear Independence
Matrices
Change of Coordinates
Eigenvalues and Eigenvectors
Singular Value Decomposition (SVD)
Dynamical Systems
Lyapunov Stability
Quadratic Forms and Lyapunov Functions
Lyapunov Stability
Global and Exponential Stability
Lyapunov Stability for Linear Systems
Lasalle's Theorem
Index

×
Free shipping on orders over $35*

*A minimum purchase of $35 is required. Shipping is provided via FedEx SmartPost® and FedEx Express Saver®. Average delivery time is 1 – 5 business days, but is not guaranteed in that timeframe. Also allow 1 - 2 days for processing. Free shipping is eligible only in the continental United States and excludes Hawaii, Alaska and Puerto Rico. FedEx service marks used by permission."Marketplace" orders are not eligible for free or discounted shipping.

Learn more about the TextbookRush Marketplace.

×