Robot Modeling and Kinematics

Rachid Manseur

370 pages, parution le 13/04/2006

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Résumé

Robot Modeling and Kinematics covers the fundamental topics of robot manipulator modeling and kinematics. It is supported by computer tools that greatly facilitate learning. Computer graphics software that generates virtual three dimensional displays based on the Virtual Reality Modeling Language translates user-described robots into realistic virtual interactive models that can be animated to illustrate robot motion and behavior. In robot modeling, the effect of every robot parameter on the structure of the robot can be immediately visualized and assessed for ease of understanding.

While mathematically rigorous, this book's concentration is on ease of understanding of the concepts. For many of the illustrations presented in the book, the reader is referred to a corresponding VRML file that will display a Virtual Reality image on a computer display. By allowing readers to view figures and animation in 3D space, it provides a more comprehensive process of teaching and learning.

The kinematics of robot manipulators is presented starting from simple robot mechanisms and builds to the most complex robot manipulator structures. The computations are clearly explained while the computational burden is greatly reduced with supporting computational programs that allow readers to concentrate on concepts rather then burdensome calculations. A program that generates the forward kinematics equations for any robot manipulator described by the user is provided to assist in the study and understanding of robot kinematics. Programs to solve the inverse kinematics of complex manipulator structures are also provided to illustrate the techniques described throughout. The accompanying software, for visualization or for computation, provides an enhanced learning experience and can be useful for many robotics concepts by both students and professionals.

Whether the book is intended for a robotics course or as a professional reference, Robot Modeling and Kinematics is an essential resource for providing a thorough understanding of the topics of modeling and kinematics.

Features

Includes software that uses recent availability of visualization development and computational software to produce computer-based educational tools in support of an introductory course on robotics
Refers readers to computer programs that will animate objects as described in the text
All mathematical developments explained in the book will be performed using software tools such as Matlab and MathCad
Includes several examples and exercises

Sommaire

Introduction
Object Location
Robot Modeling
Forward Kinematics
Inverse Kinematics
Kinematics of 4-Joint Robot Arms
Kinematics of Five-Joint Robots
Kinematics of Six-Joint Robot Arms
The Manipulator Jacobian
Robot Trajectories
A: Accompanying CD-ROM
B: Review of Linear Algebra
C: Trigonometry and Trigonometric Equations

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Caractéristiques techniques

	PAPIER
Éditeur(s)	Da Vinci Engineering Press, Thomson - Delmar Learning
Auteur(s)	Rachid Manseur
Parution	13/04/2006
Nb. de pages	370
Format	19,5 x 24,5
Couverture	Relié
Poids	995g
Intérieur	Noir et Blanc
EAN13	9781584508519
ISBN13	978-1-58450-851-9