TAILIEUCHUNG - Introduction to Robotics Mechanics and Control

Scientists often have the feeling that, through their work, they are learning about some aspect of themselves. Physicists see this connection in their work; so do, for example, psychologists and chemists. In the study of robotics, the connection between the field of study and ourselves is unusually obvious. And, unlike a science that seeks only to analyze, robotics as currently pursued takes the engineering bent toward synthesis. Perhaps it is for these reasons that the field fascinates so many of us. The study of robotics concerns itself with the desire to synthesize some aspects of human function by the use of mechanisms, sensors, actuators, and computers. Obviously, this is. | Introduction to Robotics Mechanics and Control Third Edition John J. Craig Pearson Education International Vice President and Editorial Director ECS Marcia J. Horton Associate Editor Alice Dworkin Editorial Assistant Carole Snyder Vice President and Director of Production and Manufacturing ESM David IV Riccardi Executive Managing Editor Vince O Brien Managing Editor David A. George Production Editor James Buckley Director of Creative Services Paul Belfanti Art Director Jayne Conte Cover Designer Bruce Kenselaar Art Editor Greg Dulles Manufacturing Manager Trudy Pisciotti Manufacturing Buyer Lisa McDowell Senior Marketing Manager Holly Stark 2005 Pearson Education Inc. Pearson Prentice Had Pearson Education Inc. Upper Saddle River NJ 07458 All rights reserved. No part of this book may be reproduced in any form or by any means without permission in writing from the publisher. If you purchased this book within the United States or Canada you should be aware that it has been wrongfully imported without the approval of the Publisher or the Author. Pearson Prentice Had is a trademark of Pearson Education Inc. Robotics Toolbox for MATLAB Release courtesy of Peter Corke. The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development research and testing of the theories and programs to determine their effectiveness. The author and pubdsher make no warranty of any kind expressed or impded with regard to these programs or the documentation contained in this book. The author and pubdsher shad not be liable in any event for incidental or consequential damages in connection with or arising out of the furnishing performance or use of these programs. Printed in the United States of America 10 9876543 ISBN O-lB-lEBbET-b Pearson Education Ltd. London Pearson Education Australia Pty. Ltd. Sydney Pearson Education Singapore Pte. Ltd. Pearson Education North Asia Ltd. Hong Kong Pearson Education Canada Ltd. Toronto .

• Tự động hoá
• the Robotic Manipulator
• robotic principles
• MATLAB simulations
• a the major robotic classifications
• including Wheeled Mobile Robots
• Legged Robots
• Attitude determination
• Ambiguity resolution
• Angular solution
• A dynamic model for GPS
• GPS based attitude determination
• Serial robotic manipulator
• the major robotic classifications
• Adaptive control
• Robotic manipulator control
• Time varying uncertainty observation
• Numerical simulation
• Tracking control performance
• Robot Almega 16
• Finite time observer
• Lyapunov standards
• Robot controller
• Industrial manipulator