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Springer Handbook of Robotics /
The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with h...
| Clasificación: | Libro Electrónico |
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| Otros Autores: | , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Cham :
Springer International Publishing : Imprint : Springer,
2016.
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| Edición: | 2nd edition. |
| Colección: | Springer Handbooks,
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Foreword; Foreword; Foreword; Foreword; Preface to the Second Edition; Preface to the Multimedia Extension; About the Editors; About the Part Editors; About the Multimedia Editors; List of Authors; Contents; List of Abbreviations; 1 Robotics and the Handbook; 1.1 A Brief History of Robotics; 1.2 The Robotics Community; 1.3 This Handbook; Video-References; Part A Robotics Foundations; 2 Kinematics; 2.1 Overview; 2.2 Position and Orientation Representation; 2.3 Joint Kinematics; 2.4 Geometric Representation; 2.5 Workspace; 2.6 Forward Kinematics; 2.7 Inverse Kinematics.
- 2.8 Forward Instantaneous Kinematics2.9 Inverse Instantaneous Kinematics; 2.10 Static Wrench Transmission; 2.11 Conclusions and Further Reading; References; 3 Dynamics; 3.1 Overview; 3.2 Spatial Vector Notation; 3.3 Canonical Equations; 3.4 Dynamic Models of Rigid-Body Systems; 3.5 Kinematic Trees; 3.6 Kinematic Loops; 3.7 Conclusions and Further Reading; References; 4 Mechanism and Actuation; 4.1 Overview; 4.2 System Features; 4.3 Kinematics and Kinetics; 4.4 Serial Robots; 4.5 Parallel Robots; 4.6 Mechanical Structure; 4.7 Joint Mechanisms; 4.8 Actuators; 4.9 Robot Performance.
- 4.10 Conclusions and Further ReadingVideo-References; References; 5 Sensing and Estimation; 5.1 Introduction; 5.2 The Perception Process; 5.3 Sensors; 5.4 Estimation Processes; 5.5 Representations; 5.6 Conclusions and Further Readings; References; 6 Model Identification; 6.1 Overview; 6.2 Kinematic Calibration; 6.3 Inertial Parameter Estimation; 6.4 Identifiability and Numerical Conditioning; 6.5 Conclusions and Further Reading; Video-References; References; 7 Motion Planning; 7.1 Robotics Motion Planning; 7.2 Motion Planning Concepts; 7.3 Sampling-Based Planning; 7.4 Alternative Approaches.
- 7.5 Differential Constraints7.6 Extensions and Variations; 7.7 Advanced Issues; 7.8 Conclusions and Further Reading; Video-References; References; 8 Motion Control; 8.1 Introduction to Motion Control; 8.2 Joint Space Versus Operational Space Control; 8.3 Independent-Joint Control; 8.4 PID Control; 8.5 Tracking Control; 8.6 Computed-Torque Control; 8.7 Adaptive Control; 8.8 Optimal and Robust Control; 8.9 Trajectory Generation and Planning; 8.10 Digital Implementation; 8.11 Learning Control; Video-References; References; 9 Force Control; 9.1 Background; 9.2 Indirect Force Control.
- 9.3 Interaction Tasks9.4 Hybrid Force/Motion Control; 9.5 Conclusionsand Further Reading; Video-References; References; 10 Redundant Robots; 10.1 Overview; 10.2 Task-Oriented Kinematics; 10.3 Inverse Differential Kinematics; 10.4 Redundancy Resolution via Optimization; 10.5 Redundancy Resolution via Task Augmentation; 10.6 Second-Order Redundancy Resolution; 10.7 Cyclicity; 10.8 Fault Tolerance; 10.9 Conclusion and Further Reading; Video-References; References; 11 Robots with Flexible Elements; 11.1 Robots with Flexible Joints; 11.2 Robots with Flexible Links; Video-References; References.