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| Àâòîðèçàöèÿ |
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| Ïîèñê ïî óêàçàòåëÿì |
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| Selig J.M. — Introductory robotics |
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| Ïðåäìåòíûé óêàçàòåëü |
A-matrix 112
A-matrix, Puma 40—42 59 128
A-matrix, Scara robot 43 126
A-matrix, Stanford manipulator 43 126
Acceleration 82 96 109 114
Acceleration due to gravity 106
Acceleration screw 109
Active transformations 31—32
Algebraic equations 44—45 57
Algorithm 112
Angle of rotation 15 21
Angular velocity 68—71 103
Anthropomorphic design 28 see
Anticlockwise 15 21 34
Antisymmetric matrix 22 72 98 101 120 136 137 146
Axis of a rotation 15 20 21 66 68 117 118
Axis of a screw motion 20 32 66
Axis of a wrench 86 88 94 141 143
Bearing 106 107
Bin picking problem 5
Centre of mass 97 101—102 107—108 110 144—146
Centre of rotation 12—14 66 116
chebyshev 79
Chebyshev polynomial 80
Cincinnati Milacron  38 71
Classical mechanics 96
Closed loop structure 23 28—9
Co-operating arms 6
Collision 6
Commutativity 16 see
Compliance 93—94
Compliance matrix 93
Computer controlled machine tools 3
Conformations 57
Conjugation 13 17 19 27
Cylinder 25
Degree of a polynomial 45
Degrees-of-freedom 23 26 28 30 34 48 55 62 89
Denavit — Hartenberg parameters 40
density 97 99
Design parameters 34 39—40 47 48
Determinant 9 44 62 66 79 89 119 122 134
Devol, George 3
Diagonal matrix 105 146
Discontinuity 76 80
Domestic robot 5
Dot product (or scalar product) 92 124
Dual set of screws 91
Duck 2
Eigenvalue 14 19 22 117
Eigenvector 14 19 22 117
Elasticity 5 see
Elbow up 47 53
Elbow-down 47 53 83
Elephant 1
Embedded co-ordinate frame 31—32
End-effector 1 30 34 36 57 59 92 see
Engelberger, Joe 3
Equations of motion 98 102 104 114 147
Equilibrium 85 93
Errors 61—62 75 79
Euler angles 17—18 23 26 48
Euler's equation 103 104
fingers 86 89
flexibility 5 7 96
Flip 49
force 85—86 91 95 96 104 106 110 143
Forward kinematics 34—43 59 134—135
Forward kinematics, 3-R wrist 36—38 131
Forward kinematics, planar manipulator 34—36 130
Forward kinematics, planar parallel manipulator 55—57
Forward kinematics, Puma 40—43 127—128
Forward kinematics, Stanford manipulator 43 126—127 132—133
Four-bar mechanism 29—30
Friction 87 89—90 96 115 147
Gauss elimination 63 139
Gravity 106 110—111 113 147
Gravity screw 110—111 113
Gripper 5 42 43 44 49 51 see
Gripping problems 86—90
Helicoidal surface 25
Home position 7 23 34 65 112 134
Home position, 3-R wrist 37 49
Home position, planar manipulator 36 62
Home position, Puma 40 42 51 127
Home position, Scara robot 126
Home position, Stanford manipulator 127
Hook's law 93—94
Horner's method 77
Identity matrix 8 10 42 98
Identity transformation 11
Inertia matrix 98—115 144—147
Infinity (point at) 14 45
Instantaneous screw 70—71 72 86 90—93 97—99 102 103 105—115
Interpolation 73
Interpolation, Hermite 81
Interpolation, Lagrange 79—80
Interpolation, linear 76
Interpolation, rational 84 140
Inverse kinematics 28 44—58 73
Inverse kinematics, 3-R wrist 48—50 130 131 138
Inverse kinematics, numerical method for 62—65
Inverse kinematics, planar manipulator 45—47 52 129 130—131 137
Inverse kinematics, Puma 51—55 57 74 132 139
Inverse kinematics, Stanford manipulator 57 132—133
Inverse matrix 9 32 63 91 123 139 see
Inverse transformation 11 32 52
Jacobian 59—72 79 93—94 109 134 139
Jacobian, 3-R wrist 69
Jacobian, Cincinnati Milacron wrist 71 136
Jacobian, parallel manipulator 144
Jacobian, planar manipulator 60—61 64 67—68
Jacobian, planar parallel manipulator 65 135
Joint 23 25—27
Joint offset 39
Joint screw 71 106 110—114
Joint space 28
Joint stiffness 93
Joint variable (or angle) 27 28 34 44 59 60 73—74 107 109 111 112 138—139
Joint variable (or angle), errors 61—62 79
Joint variable (or angle), numerical solution for 62—65
Joint velocity 66
Joint, cylindric (C) 25
Joint, planar (E) 25
Joint, prismatic or sliding (P) 25 27 32 71 95 106
Joint, revolute (R) 25 27 28 32 34 38 39 71 92 106
Joint, screw or helical (H) 25 44 106 114
Joint, spherical (ball and socket - S) 25 30 94
Kinematic equations, 3-R wrist 37
Kinematic equations, planar manipulator 36 60
Kinematic transformation matrix, 3-R wrist 37 48 54
Kinematic transformation matrix, Cincinnati Milacron 38 125—126
Kinematic transformation matrix, planar manipulator 36
Kinematic transformation matrix, Puma 42
kinetic energy 115 146—147
Left-hand thread 19
Lefty 53
Legged vehicles 5 see
Lift-off phase 74 81—83
Linear approximation 60 74—76 137
| Linear momentum 97 102
Linear velocity 66—68 69—71
Link 23—25 105—111
Link length 39
Link velocity 66
Mass 96 102 106
Moment of force 85 96
Moment of inertia 99—102
Momentum 96 see
Motors 2 28 82 93 96 106 108
Multi-fingered hand 2 6 86 see
Newton — Euler equation 104 107—108
Newton — Raphson method 62—65
Newton's Laws 96
No flip 49
Numerical methods 55 62—65 74
Open loop structure 23 28 see
Order of transformations 11 116 see
Paint spraying 1 28
Pairing 90—93 106—108 110 113—114
Parallel axis theorem 101
Parameterization 17 59
Partial derivatives 60 68 71 115
Partitioned matrix (form) 11—14 18 66 98 102 104 107 114
Passive transformations 31—32
Pitch of a joint 32 70
Pitch of a screw motion 19 20 27 32 69 120 122
Pitch of a wrench 85 88 94 141 143
Planar manipulator 34 50 51 71 83
Planar manipulator, forward kinematics 34—36 38 52 130
Planar manipulator, inverse kinematics 45—47 53 63 131
Planar manipulator, Jacobian 60—61 64 67—68
Planar parallel manipulator 55—7 58 133
Planar parallel manipulator, Jacobian 65 135
Planar transformations 7—15
Polynomials 44—45 77 138
Postures 47—48 49 50 53 55 57 65 75 83 133
Power 90—91
Principle moments of inertia 146
Programming 1 5
Proper rigid transformation 9
Protheses 5
Puma 3 28 30 34 59 74
Puma, A-matrices 40—42
Puma, forward kinematics 40—43 128
Puma, home position 40 42 43
Puma, inverse kinematics 51—55 57 74 130
Puma, kinematic transformation matrix 42
Puma, postures 53 55
Puma, wrist 36
Rank of a matrix 62
Reaction wrench 92 106—107 142
Recursion 112—114
Redundant manipulators 5
Reflection 9 17
Reflection in 2-D 10
Reuleaux lower pairs 25—26 89
Reuleaux, Franz 25
Right-hand thread 19
Righty 53
Rigid (body) motion in 2-D 10—12 14—15 66
Rigid (body) motion in 3-D 18—22 26—27 32 34 36 44 59 65 73 102—104
Rigid bodies 7—8 23 66 69—70 85 94 96 102 105 107 115
Rigid transformations in 2-D 10—14 15 23
Rigid transformations in 3-D 15—22 23—25 32 34 103 136
Rotation about an arbitrary point 12
Rotation in 2-D 8—10
Rotation in 3-D 15—19 72
Rotation, effect on vectors 8
Rotation, inverse 9
Rotation, matrix 8 71 100 102
Rotation, successive or composite or combined 8 16
Scalar product (or dot product) 9 20 21
Scalar triple product 21 86 147
SCARA robot 4 34
Scara robot, A-matrices 43 126
Scara robot, home position 126
Screw motion 19 26 69 122
Sensor fusion 5
sensors 2 79
Serial manipulator (or robot) 6 44 55 57 59 70 92—93 110 115
Set-down phase 74 81 82—83
Sheep shearing 5
Similarity transformation 100 121
Singular point (singularity) 48 50 57 62 75 134 138
Singular solution of polynomial equations 45
Skew symmetric matrix 22
SOAP 90
Spherical manipulator 34
Spherical mechanism 37
SPLINE 81
Stanford manipulator, A-matrices 43 126—127 132
Stanford manipulator, forward kinematics 43 126—127 132
Stanford manipulator, home position 127
Stanford manipulator, inverse kinematics 57 132—133
Stanford manipulator, postures 133
Stanford manipulator, wrist 36
Stewart platform 2 30 94 142—143
Stewart platform, forward kinematics 55 57
Stewart platform, inverse kinematics 55
Stiffness 93
Stiffness matrix 93
Surface of revolution 25 90
Surface of translation 25 90
Sylvester's theorem 146
Symmetric matrix 98 146—147
Taylor's theorem 60 63
Telechir 3
Tensor property 100
Tool 1 see
topology 17 59
torque 85—86 91—93 104 106 108—109 110 112 114
Torus 65 134
Trace of a matrix 121
Trajectory following 73—84
Trajectory planning 6
Translations in 2-D 9—10 71
Translations in 3-D 18—19 72 101 103
Trigonometry 36 47
Trigonometry, identities 8 45 49
Twist angle 39
Vector product ( ) 21 24 68 85 96 103 137 146
Vector product () of screws 104—105
Vector triple product 97 100 124
Velocity screw 107 109 115
Via points 76 78 79
Vibrations 5 79
Volume integral 97
Walking machine 2 see
Wall climbing robot 5
Weight 92 106 111
Welding 1 28 73
Work done 144
Work space 28 48 59 76 84 139
Wrench 85 90—93 98 102 104—108 112—114 140—144
Wrench due to gravity 110
Wrist 18 28 34
Wrist, 3-R or spherical 36—38 48—50 51 66 83 130 131
Wrist, Cincinnati Milacron 38 71 125—126
Wrist, roll-pitch-yaw 37—38
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