Introduction to Robotics Mechanics and Control

Introduction to Robotics Mechanics and Control
اسم المؤلف
John J. Craig
التاريخ
23 أكتوبر 2019
المشاهدات
التقييم
(لا توجد تقييمات)
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Introduction to Robotics Mechanics and Control
John J. Craig
Contents
1 Introduction
1.1 Background
1.2 the Mechanics and Control of Mechanical Manipuiators
1.3 Notation
Spatial Descriptionsand Transformations
2.1 Introduction
2.2 Descriptions: Positions, Orientations, and Frames
2.3 Mappings: Changing Descriptions From Frame to Frame
2.4 Operators: Transiations, Rotations, Transformations
2.5 Summary of Interpretations
2.6 Transformation Arithmetic .
2.7 Transform Equations
2.8 More on Representation of Orientation
2.9 Transformation of Free Vectors
2.10 Computational Considerations
Manipulator Kinematics
3.1 Introduction
3.2 Link Description
3.3 Link Connection Description
3.4 Convention for Affixing Frames to Links
3.5 Manipulator Kinematics
3.6 Actuator Space, Joint Space, and Cartesian Space
3.7 Examples: Kinematics of Two Industrial Robots
3.8 Frames With Standard Names
3.9 Where is the Tool?
3.10 Computational Considerations
4
Inverse Manipulator Kinematics
4.1 Introduction
4.2 Solvability
4.3 the Notion of Manipulator Subspace When N < 6
4.4 Algebraic Vs. Geometric .”
4.5 Algebraic Solution by Reduction to Polynomial
4.6 Pieper’s Solution When Three Axes Intersect
4.7 Examples of Inverse Manipulator Kinematics
4.8 the Standard Frames
4.9 Solve-ing a Manipulator
4.10 Repeatability and Accuracy
4.11 Computational Considerations
5
Jacobians: Velocities and Static Forces
5.1 Introduction
5.2 Notation for Time-varying Position and Orientation
5.3 Linear and Rotational Velocity of Rigid Bodies
5.4 More on Angular Velocity
5.5 Motion of the Links of a Robot
5.6 Velocity “Propagation” From Link to Link
5.7 Jacobians
5.8 Singularities ,.
5.9 Static Forces in Manipulators
5.10 Jacobians in the Force Domain
5.11 Cartesian Transformation of Velocities and Static Forces
6
Manipulator Dynamics
6.1 Introduction
6.2 Acceleration of a Rigid Body
Mass Distribution
Newton’s Equation, Euler’s Equation
Iterative Newton-euler Dynamic Formulation
Iterative Vs. Closed Form
An Example of Closed Form Dynamic Equations
The Structure of the Manipulator Dynamic Equations
Lagrangian Formulation of Manipulator Dynamics
Formulating Manipulator Dynamics in Cartesian Space
Inclusion of Nonrigid Body Effects
Dynamic Simulation
Computational Considerations
Trajectory Generation 227
7.1 Introduction 227
7.2 General Considerations in Path Description and Generation 228
7.3 Joint Space Schemes 230
7.4 Cartesian Space Schemes 246
7.5 Geometric Problems With Cartesian Paths 249
7.6 Path Generation at Run Time 252
7.7 Description of Paths With a Robot Programming Language 255
7.8 Planning Paths Using the Dynamic Model 255
7.9 Collision-free Path Planning 256
8
Manipulator Mechanism Design
8.1 Introduction
8.2 Basing the Design on Task Requirements
8.3 Kinematic Configuration
8.4 Quantitative Measures of Workspace Attributes
8.5 Redundant and Closed Chain Structures
8.6 Actuation Schemes
8.7 Stiffness and Deflections
8.8 Position Sensing
8.9 Force Sensing
9
Linear Control of Manipulators
9.1 Introduction
9.2 Feedback and Closed Loop Control
9.3 Second-order Linear Systems
9.4 Control of Second-order Systems
9.5 Controllaw Partitioning
9.6 Trajectory-following Control
Disturbance Rejection
Continuous Vs. Discrete Time Control
Modeling and Control of a Single Joint
Architecture of an Industrial Robot Controller
10
Nonlinear Control of Manipulators
10.1 Introduction
10.2 Nonlinear and Time-varying Systems
10.3 Multi-input, Multi-output Control Systems
10.4 the Control Problem for Manipulators
10.5 Practical Considerations
10.6 Present Industrial Robot Control Systems
10.7 Lyapunov Stability Analysis
10.8 Cartesian-based Control Systems
10.9 Adaptive Control
11
Force Control of Manipulators
11.1 Introduction
11.2 Application of Industrial Robots to Assembly Tasks
11.3 a Framework for Control in Partially Constrained Tasks
11.4 the Hybrid Positionjforce Control Problem
11.5 Force Control of a Mass-spring
11.6 the Hybrid Positionjforce Control Scheme
11.7 Present Industrial Robot Control Schemes
12
Robot Programming Languages and Systems
12.1 Introduction
12.2 the Three Levels of Robot Programming
12.3 a Sample Application
12.4 Requirements of a Robot Programming Language
12.5 an Example Application Coded in Three Rpls
12.6 Problems Peculiar to Robot Programming Languages
13
Off-line Programming Systems
13.1 Introduction
13.2 Central Issues in Olp Systems
13.3 Cimstation
13.4 Automating Subtasks in Olp Systems
13.5 Summary
Index 447
Appendices
A Trigonometric Identities 440
B the Twenty-four Angle Set Conventions 442
C Some Inverse Kinematic Formulas 445
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