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Author: Marco Ceccarelli Publisher: Springer Nature ISBN: 3030908488 Category : Technology & Engineering Languages : en Pages : 398
Book Description
The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Author: Marco Ceccarelli Publisher: Springer Nature ISBN: 3030908488 Category : Technology & Engineering Languages : en Pages : 398
Book Description
The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Author: Matthew T. Mason Publisher: MIT Press ISBN: 9780262263740 Category : Computers Languages : en Pages : 282
Book Description
The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
Author: Jorge Angeles Publisher: Springer Science & Business Media ISBN: 038795368X Category : Technology & Engineering Languages : en Pages : 537
Book Description
Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).
Author: Tsuneo Yoshikawa Publisher: MIT Press ISBN: 9780262240284 Category : Computers Languages : en Pages : 318
Book Description
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.
Author: Richard M. Murray Publisher: CRC Press ISBN: 1351469797 Category : Technology & Engineering Languages : en Pages : 503
Book Description
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Author: Caihua Xiong Publisher: World Scientific ISBN: 9812771832 Category : Technology & Engineering Languages : en Pages : 229
Book Description
This book provides a fundamental knowledge of robotic grasping and fixturing (RGF) manipulation. For RGF manipulation to become a science rather than an art, the content of the book is uniquely designed for a thorough understanding of the RGF from the multifingered robot hand grasp, basic fixture design principle, and evaluating and planning of robotic grasping/fixturing, and focuses on the modeling and applications of the RGF. Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.The book provides readers an overall picture and scientific basis of RGF, the comprehensive information and mathematic models of developing and applying RGF in industry, and presents long term valuable information which is essential and can be used by technical professions as a good reference.
Author: Gregory Long Publisher: ISBN: 9780986109416 Category : Languages : en Pages : 570
Book Description
The Fundamentals of Robot Mechanics contains a thorough treatment of essential concepts in robot kinematics,statics, and dynamics. Beginning with the elementary notions of points and vectors in 3-dimensional space, this thoughtful textbook conveys an in-depth presentation of robotics essentials such as rotation transformations, homogeneous transformations, Denavit-Hartenberg parameters, forward kinematics, inverse kinematics, instantaneous kinematics and statics, singular configurations, and dynamics of serial-chain manipulators. More specifically, this exposition of robot fundamentals provides the following:1) Step-by-Step instructions for obtaining the classic DH Parameters for any serial-chain manipulator.2) A computationally efficient formulation of serial-chain manipulator forward and inverse kinematics.3) An elegant and computationally efficient formulation of the manipulator Jacobian using screw theory.4) A rigorous treatment of singular configurations and reciprocal screws using screw theory.5) A comprehensive treatment of statics using virtual work and screw theory.6) Workspace analysis techniques for 2-revolute and 3-revolute pair serial-chain structures.7) A complete derivation of manipulator dynamics using Lagrange's equations.8) A computationally efficient formulation of manipulator dynamics using lump inertias.The Fundamentals of Robot Mechanics contains over 500 color illustrations, over 100 detailed individual and extended examples, and over 300 exercises to promote mastery of both theory and practice. This text also includes references to over 400 original research articles. A professional-trade book for all robotics students and practicing engineers who wish to master robot mechanics.
Author: Richard M. Murray Publisher: CRC Press ISBN: 1351469789 Category : Technology & Engineering Languages : en Pages : 488
Book Description
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.