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Selig J.M. Ч Introductory robotics
Selig J.M. Ч Introductory robotics

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Ќазвание: Introductory robotics

јвтор: Selig J.M.

язык: en

–убрика: “ехнологи€/

—татус предметного указател€: √отов указатель с номерами страниц

ed2k: ed2k stats

√од издани€: 1992

 оличество страниц: 152

ƒобавлена в каталог: 22.10.2005

ќперации: ѕоложить на полку | —копировать ссылку дл€ форума | —копировать ID
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ѕредметный указатель
A-matrix      112
A-matrix, Puma      40Ч42 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      31Ч32
Algebraic equations      44Ч45 57
Algorithm      112
Angle of rotation      15 21
angular momentum      96 97Ч98 102
Angular velocity      68Ч71 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 101Ч102 107Ч108 110 144Ч146
Centre of rotation      12Ч14 66 116
chebyshev      79
Chebyshev polynomial      80
Cincinnati Milacron $T^{3}$      38 71
Classical mechanics      96
Closed loop structure      23 28Ч9
Co-operating arms      6
Collision      6
Commutativity      16 see
Compliance      93Ч94
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 Ч Hartenberg parameters      40
density      97 99
Design parameters      34 39Ч40 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      31Ч32
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      61Ч62 75 79
Euler angles      17Ч18 23 26 48
Euler's equation      103 104
fingers      86 89
flexibility      5 7 96
Flip      49
force      85Ч86 91 95 96 104 106 110 143
Forward kinematics      34Ч43 59 134Ч135
Forward kinematics, 3-R wrist      36Ч38 131
Forward kinematics, planar manipulator      34Ч36 130
Forward kinematics, planar parallel manipulator      55Ч57
Forward kinematics, Puma      40Ч43 127Ч128
Forward kinematics, Stanford manipulator      43 126Ч127 132Ч133
Four-bar mechanism      29Ч30
Friction      87 89Ч90 96 115 147
Gauss elimination      63 139
Gravity      106 110Ч111 113 147
Gravity screw      110Ч111 113
Gripper      5 42 43 44 49 51 see
Gripping problems      86Ч90
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      93Ч94
Horner's method      77
Identity matrix      8 10 42 98
Identity transformation      11
Inertia matrix      98Ч115 144Ч147
Infinity (point at)      14 45
Instantaneous screw      70Ч71 72 86 90Ч93 97Ч99 102 103 105Ч115
Interpolation      73
Interpolation, Hermite      81
Interpolation, Lagrange      79Ч80
Interpolation, linear      76
Interpolation, rational      84 140
Inverse kinematics      28 44Ч58 73
Inverse kinematics, 3-R wrist      48Ч50 130 131 138
Inverse kinematics, numerical method for      62Ч65
Inverse kinematics, planar manipulator      45Ч47 52 129 130Ч131 137
Inverse kinematics, Puma      51Ч55 57 74 132 139
Inverse kinematics, Stanford manipulator      57 132Ч133
Inverse matrix      9 32 63 91 123 139 see
Inverse transformation      11 32 52
Jacobian      59Ч72 79 93Ч94 109 134 139
Jacobian, 3-R wrist      69
Jacobian, Cincinnati Milacron $T^{3}$ wrist      71 136
Jacobian, parallel manipulator      144
Jacobian, planar manipulator      60Ч61 64 67Ч68
Jacobian, planar parallel manipulator      65 135
Joint      23 25Ч27
Joint offset      39
Joint screw      71 106 110Ч114
Joint space      28
Joint stiffness      93
Joint variable (or angle)      27 28 34 44 59 60 73Ч74 107 109 111 112 138Ч139
Joint variable (or angle), errors      61Ч62 79
Joint variable (or angle), numerical solution for      62Ч65
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 $T^{3}$      38 125Ч126
Kinematic transformation matrix, planar manipulator      36
Kinematic transformation matrix, Puma      42
kinetic energy      115 146Ч147
Left-hand thread      19
Lefty      53
Legged vehicles      5 see
Lift-off phase      74 81Ч83
Linear approximation      60 74Ч76 137
Linear momentum      97 102
Linear velocity      66Ч68 69Ч71
Link      23Ч25 105Ч111
Link length      39
Link velocity      66
Mass      96 102 106
Moment of force      85 96
Moment of inertia      99Ч102
Momentum      96 see
Motors      2 28 82 93 96 106 108
Multi-fingered hand      2 6 86 see
Newton Ч Euler equation      104 107Ч108
Newton Ч Raphson method      62Ч65
Newton's Laws      96
No flip      49
Numerical methods      55 62Ч65 74
Open loop structure      23 28 see
Order of transformations      11 116 see
Paint spraying      1 28
Pairing      90Ч93 106Ч108 110 113Ч114
Parallel axis theorem      101
Parameterization      17 59
Partial derivatives      60 68 71 115
Partitioned matrix (form)      11Ч14 18 66 98 102 104 107 114
Passive transformations      31Ч32
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      34Ч36 38 52 130
Planar manipulator, inverse kinematics      45Ч47 53 63 131
Planar manipulator, Jacobian      60Ч61 64 67Ч68
Planar parallel manipulator      55Ч7 58 133
Planar parallel manipulator, Jacobian      65 135
Planar transformations      7Ч15
Polynomials      44Ч45 77 138
Postures      47Ч48 49 50 53 55 57 65 75 83 133
Power      90Ч91
Principle moments of inertia      146
Programming      1 5
Proper rigid transformation      9
Protheses      5
Puma      3 28 30 34 59 74
Puma, A-matrices      40Ч42
Puma, forward kinematics      40Ч43 128
Puma, home position      40 42 43
Puma, inverse kinematics      51Ч55 57 74 130
Puma, kinematic transformation matrix      42
Puma, postures      53 55
Puma, wrist      36
Rank of a matrix      62
Reaction wrench      92 106Ч107 142
Recursion      112Ч114
Redundant manipulators      5
Reflection      9 17
Reflection in 2-D      10
Reuleaux lower pairs      25Ч26 89
Reuleaux, Franz      25
Right-hand thread      19
Righty      53
Rigid (body) motion in 2-D      10Ч12 14Ч15 66
Rigid (body) motion in 3-D      18Ч22 26Ч27 32 34 36 44 59 65 73 102Ч104
Rigid bodies      7Ч8 23 66 69Ч70 85 94 96 102 105 107 115
Rigid transformations in 2-D      10Ч14 15 23
Rigid transformations in 3-D      15Ч22 23Ч25 32 34 103 136
Rotation about an arbitrary point      12
Rotation in 2-D      8Ч10
Rotation in 3-D      15Ч19 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 92Ч93 110 115
Set-down phase      74 81 82Ч83
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 126Ч127 132
Stanford manipulator, forward kinematics      43 126Ч127 132
Stanford manipulator, home position      127
Stanford manipulator, inverse kinematics      57 132Ч133
Stanford manipulator, postures      133
Stanford manipulator, wrist      36
Stewart platform      2 30 94 142Ч143
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 146Ч147
Taylor's theorem      60 63
Telechir      3
Tensor property      100
Tool      1 see
topology      17 59
torque      85Ч86 91Ч93 104 106 108Ч109 110 112 114
Torus      65 134
Trace of a matrix      121
Trajectory following      73Ч84
Trajectory planning      6
Translations in 2-D      9Ч10 71
Translations in 3-D      18Ч19 72 101 103
Trigonometry      36 47
Trigonometry, identities      8 45 49
Twist angle      39
Vector product ($\wedge$)      21 24 68 85 96 103 137 146
Vector product ($\wedge$) of screws      104Ч105
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 90Ч93 98 102 104Ч108 112Ч114 140Ч144
Wrench due to gravity      110
Wrist      18 28 34
Wrist, 3-R or spherical      36Ч38 48Ч50 51 66 83 130 131
Wrist, Cincinnati Milacron $T^{3}$      38 71 125Ч126
Wrist, roll-pitch-yaw      37Ч38
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