(H/B) ROBOTICS
MODELLING, PLANNING AND CONTROL - BRUNO SICILIANO
BRUNO SICILIANO, LORENZO SCIAVICCO, LUIGI VILLANI, GIUSEPPE ORIOLO
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Κωδ. Πολιτείας: 4078-0148
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Παρουσίαση
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!
Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations.
The theory of manipulator structures presented in the early part of the book encompasses:
-the fundamentals: kinematics, statics and trajectory planning; and
-the technology of actuators, sensors and control units.
Subsequently, more advanced instruction is given in:
-dynamics and motion control of robot manipulators;
-environmental interaction using exteroceptive sensory data (force and vision);
-mobile robots; and
-motion planning.
-code for computer problems; these are available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content. (From the publisher)
Περιεχόμενα
Introduction
Kinematics
Differential Kinematics and Statics
Trajectory Planning
Actuators and Sensors
Control Architecture
Dynamics
Motion Control
Force Control
Visual Servoing
Mobile Robots
Motion Planning
Appendices:
Linear Algebra
Rigid-body Mechanics
Feedback Control
Differential Geometry
Graph Search Algorithms
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