Craig J.J. — Introduction to Robotics: Mechanics and Control :: Электронная библиотека попечительского совета мехмата МГУ

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Craig J.J. — Introduction to Robotics: Mechanics and Control

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Название: Introduction to Robotics: Mechanics and Control

Автор: Craig J.J.

Аннотация:

This introduces the science and engineering of mechanical manipulation. New material on CAD-CAM and Controls include: Manipulator Mechanism Design, Linear Control of Manipulators, and Off-Line Programming Systems. A thorough treatment of the fundamental skills underlying the use and control of manipulators.

Язык:

Рубрика: Технология/

Статус предметного указателя: Готов указатель с номерами страниц

ed2k: ed2k stats

Издание: 2 edition

Год издания: 1989

Количество страниц: 464

Добавлена в каталог: 28.11.2010

Операции: Положить на полку | Скопировать ссылку для форума | Скопировать ID

Предметный указатель

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      316
Bounded-input bounded-output      316
bounding boxes      424
Brushless motors      288
CAD      1
CAD models      419 423
Calibration      143 433
CAM      1
Cartesian based control      353
Cartesian manipulator      267
Cartesian mass matrix      211
Cartesian motion      246
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 structures      277
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 gears      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
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      38
Goal frame      101
Goraud shading      424
Grubler's formula      279
Guarded move      386
Hidden line elimination      424
Homogeneous transform      30
Hybrid position/force control      14 366 374
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 onset      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
Line vector      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
Nonaulonomous      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
Parallel axis theorem      193
Parallelism in programming      421
Passive compliance      384
Path generator      245 252
Path points      228
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
Servo rate      318
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
TLP      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

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