Accuracy 143
Actuator space 85
Actuator vector 85
Affixments 397 425
AL 255 401
Algebraic solution 119
Alternating-current (AC) motors 288
Analytic representation 423
Angle axis 51 247
Angle set conventions 50 163 442
Angular velocity matrix 161
Angular velocity vector 155 161
Anthropomorphic 268
Anti-aliasing 319
Armature 319
Articulated manipulator 268
Artificial constraints 369
Assembly strategy 370
Automatic coercion 430
Automatic robot placement 435
Automatic scheduling 437
Autonomous 350
Back emf constant 320
Back face elimination 424
Backlash 281
Ball bearing screws 282
Base frame 7 100 141
Bevel gears 281
BIBO 316
Bottom-up programming 409
Bounded-input bounded-output 316
bounding boxes 424
Brushes motors 288
CAD 1
CAD models 419 433
Calibration 143 433
CAM 1
Cartesian based control 353
Cartesian manipulator 267
Cartesian mass matrix 211
Cartesian space 7 85
Cartesian straight line motion 247
Cartesian trajectory generation 11
Cayley's formula for orthonormal matrices 43
Centrifugal force 205
Characteristic equation 303
CimStation 423
Closed form 201
Closed form solutions 119
Closed form solvable 129
Closed loop stiffness 311
Closed loop system 301
Co-located 289
Collision detection 419 424
Complex roots 304
Computed points 143
Computed torque method 333
Computer vision 416
Configuration space equation 206
Constraint frame 367
Control algorithm 12 299
Control gains 311
Control law 310
Control law partitioning 312
Control system 299
Coriolis force 205
Coulomb friction 214 334
Critically damped 304
Cross helical years 281
Current amplifier 321
Cycle time 266
Cylindrical manipulator 270
Damped natural frequency 307
Damping ratio 306
Decoupled control 338
Degrees of freedom 6
Denavit — Hartenberg notation 74
Dextrous workspace 114
Digital control 318
Direct drive 280 322
Direct kinematics 68 113
Direction cosines 23
Discrete time control 318 341
Disturbance rejection 316 318
Dominant poles 304
Dosed loop structures 277
Dynamically simple 218
Dynamics 8 187
Effective damping 322
Effective inertia 321
Elbow manipulator 268
End of arm tooling 263
End-effector 7 263
Equivalent angle-axis 51 247
Error space 315
Euler angles 48 442
Euler parameters 55
Euler's formula 306
Euler's theorem on rotation 51
Event monitors 399
Faceted representation 423
Facets 423
Feedback 300
Feedforward control 341
Finite element techniques 287
Fixed automation 3 14
Flexure 291
Force control 13 365
Force control law 14 374
Force sensing 290 386
Force-moment transformation 181
Forward kinematics 7 68
Frame 5 23 37
Free vector 57
Gear ratio 281
Gears 281
Generalized surface 367
Geometric solution 119
Geometric types 396
Goal frame 101
Goraud shading 424
Grubler's formula 279
Guarded move 386
Hidden line elimination 424
Homogeneous transform 30
Hounded 316
Hybrid position/force control 14 366 371
hydraulic cylinders 287
Hysteresis 291
Incremental rotary optical encoder 289
Independent joint control 302
Industrial robot 1
Inertia ellipsoid 276
Inertia tensor 190
Initial conditions 302
Instantaneous axis of rotation 163
Interactive languages 418
Inverse Jacobian controller 355
Inverse kinematics 7 113
Jacobian 8 152 169
Joint angles 6 72
Joint based control 353
Joint offset 6
Joint space 7 85 211
Joint torques 8
Joint variable 74
Joint vector 85
Jointed manipulator 268
Kinematically simple 218
Kinematics 6 68
| l'Hopital's rule 308
Lagrangian 208
Lagrangian dynamic formulation 207
Laplace transforms 303
Lead screws 282
Length sum 274
Light pen 418
Limit stops 291
Line of action 57
Linear control 299
Linearizing and decoupling control 338
Linearizing control 334
Link length 70
Link offset 72
Link parameters 74
Link twist 70
links 6 69
Load capacity 266
Local linearization 333
Low pass filter 321
Lower pair 69
Lumped model 324
Lyapunov stability analysis 348
Lyapunov's second (or direct) method 348
Manipulability measure 275
Mapping 8 25 26
Mass matrix 205
Mass moments of inertia 191
Mass products of inertia 191
Mechanical impedance 383
Mechanical manipulator 3
Micromanipulator 277
MIMO 302
Model-based portion 312
Motor torque constant 319
Mouse 418
Multi-input multi-output 302
Natural constraints 367
Natural frequency 306
NC 3
Noise 316
Nonautonomous 350
Nonlinear control 13 332
NULL-SPACE 180
Numerical differentiation 289
Numerical integration 215
Numerical solutions 119
Off-line programming system 15 414
OLP 414
Open kinematic chain 6 267
Open loop 301
Operating point 333
Operational space 85 211
Orientation 21
Orienting structure 267
Overdamped 304
Overload protection 291
Pain points 228
Parallel axis theorem 193
Parallelism in programming 421
Passive compliance 384
Path generator 245 252
Path update rate 228
PID control law 318
pneumatic cylinders 287
Poles 303
Polymorphic 429
Position control law 14 310
Position control system 12 299
Position vector 20
Positioning structure 267
Positive definite 208
potentiometers 289
Principal axes 191
Principal moments 191
Prismatic joints 6 69
Proper orthonormal matrices 43
Proprioceptive 263
Quadratic form 208
Reachable workspace 114
Real and equal roots 304
Real and unequal roots 304
Reduction system 280
Redundant 264
Regulation 311
Rendering 423
Repeatability 143
Repeated roots 308
resolvers 289
Resonances 283 319 323
Revolute 6
Revolute joints 69
Robot programming language 14 255 392
Robust controller 342
Rodriques' formula 64
Roll, pitch, yaw 45
Rotation matrix 21
Rotor 319
Run-time 252
Sampling rate 341
SCARA manipulator 268
sensors 12 289 290
Serial kinematic linkages 6 267
Servo error 301
Servo portion 312
Set point 328
Shaded graphics 424
SIL 429
Similarity transform 64
Simulation 10 414
Single-input single-output 302
Singularities 8 173
Singularities of the mechanism 173
SISO 302
Skew-symmetric 160
solvable 119
Specialized manipulation languages 392
SPLINE 11
Spur gears 281
Stable 301
State space equation 205
Station frame 100
Stator 319
Steady state analysis 317
Steady state error 317
stepper motors 288
Stewart mechanism 278
strain gauges 290
Structural length index 274
Structural resonances 283 319 323
subspace 115 120
Tachometers 289 300
Task oriented space 85
Task-level programming languages 393 416
Taught point 143
Teach by showing 391
Teach pendant 328 391
Three roll wrist 271
Through point 246
TIP 416
Tool frame 7 101
Torque ripple 320
Tracking reference inputs 318
Trajectory 227
Trajectory conversion 353
Trajectory following control 311
Trajectory generation 11 252
Transform equation 40
Transmission system 280
Transpose Jacobian controller 356
|
|
|
О проекте