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This supplementary introductory tutorial treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and…mehr

Produktbeschreibung
This supplementary introductory tutorial treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and finally, robot standards and safety are briefly dealt with. The book concludes with a glossary in English, French and German.

Dieser Download kann aus rechtlichen Gründen nur mit Rechnungsadresse in A, B, BG, CY, CZ, D, DK, EW, E, FIN, F, GB, GR, HR, H, IRL, I, LT, L, LR, M, NL, PL, P, R, S, SLO, SK ausgeliefert werden.

  • Produktdetails
  • Verlag: Springer-Verlag GmbH
  • Erscheinungstermin: 15.01.2010
  • Englisch
  • ISBN-13: 9789048137763
  • Artikelnr.: 37410935
Inhaltsangabe
1 Introduction
1.1 Degree of freedom
1.2 Robot manipulator
1.3 Robot arms
1.4 Robot manipulators in industrial environment
2 Homogenous transformation matrices
2.1 Translational transformation
2.2 Rotational transformation
2.3 Pose and displacement
2.4 Geometrical robot model
3 Geometric description of the robot mechanism
3.1 Vector parameters of a kinematic pair
3.2 Vector parameters of themechanism
4 Two-segment robot manipulator
4.1 Kinematics
4.2 Workspace
4.3 Dynamics
5 Robot sensors
5.1 Principles of sensing
5.2 Sensors of movement
5.2.1 Placing of sensors
5.2.2 Potentiometer
5.2.3 Optical encoder
5.2.4 Tachometer
5.3 Force sensors
5.4 Robot vision
6 Trajectory planning
6.1 Interpolation of the trajectory between two points
6.2 Interpolation by use of via points
7 Robot control
7.1 Control of the robot in internal coordinates
7.1.1 PD control of position
7.1.2 PD control of position with gravity compensation
7.1.3 Control of the robot based on inverse dynamics
7.2 Control of the robot in external coordinates
7.2.1 Control based on the transposed Jacobianmatrix
7.2.2 Control based on the inverse Jacobianmatrix
7.2.3 PD control of position with gravity compensation
7.2.4 Control of the robot based on inverse dynamics
7.3 Control of the contact force
7.3.1 Linearization of a robot system through inverse dynamics
7.3.2 Force control
8 Robot environment
8.1 Robot grippers
8.2 Feeding devices
8.3 Robot assembly
9 Standards and safety in robotics
Robot vocabulary
Further reading
Index.

1 Introduction; 1.1 Degree of freedom; 1.2 Robot manipulator; 1.3 Robot arms; 1.4 Robot manipulators in industrial environment; 2 Homogenous transformation matrices; 2.1 Translational transformation; 2.2 Rotational transformation; 2.3 Pose and displacement; 2.4 Geometrical robot model; 3 Geometric description of the robot mechanism; 3.1 Vector parameters of a kinematic pair; 3.2 Vector parameters of themechanism; 4 Two-segment robot manipulator; 4.1 Kinematics; 4.2 Workspace; 4.3 Dynamics; 5 Robot sensors; 5.1 Principles of sensing; 5.2 Sensors of movement; 5.2.1 Placing of sensors; 5.2.2 Potentiometer; 5.2.3 Optical encoder; 5.2.4 Tachometer; 5.3 Force sensors; 5.4 Robot vision; 6 Trajectory planning; 6.1 Interpolation of the trajectory between two points; 6.2 Interpolation by use of via points; 7 Robot control; 7.1 Control of the robot in internal coordinates; 7.1.1 PD control of position; 7.1.2 PD control of position with gravity compensation; 7.1.3 Control of the robot based on inverse dynamics; 7.2 Control of the robot in external coordinates; 7.2.1 Control based on the transposed Jacobianmatrix; 7.2.2 Control based on the inverse Jacobianmatrix; 7.2.3 PD control of position with gravity compensation; 7.2.4 Control of the robot based on inverse dynamics; 7.3 Control of the contact force; 7.3.1 Linearization of a robot system through inverse dynamics; 7.3.2 Force control; 8 Robot environment; 8.1 Robot grippers; 8.2 Feeding devices; 8.3 Robot assembly; 9 Standards and safety in robotics; Robot vocabulary; Further reading; Index.
Rezensionen
From the reviews: "This simply titled work is a result of carefully delivered lectures ... for multiple classes of undergraduate engineering students over more than a decade. This exemplary course resource can serve as a basis for the study of robotics. Pedagogically well structured, it covers the fundamentals of industrial robotics ... . this book is a concise, readable reference source for those getting their feet wet in the field. ... Summing Up: Highly recommended. Lower- and upper-division undergraduates, two-year technical program students, and general readers." (G. Trajkovski, Choice, Vol. 47 (11), July, 2010)