{"product_id":"modelling-and-control-1-robot-technology-9781468468489","title":"Modelling and Control 1 Robot Technology","description":"\u003cb\u003eBook Synopsis\u003c\/b\u003e\u003cbr\u003eThe fourth volume will be concerned with technological components of robots and further volumes will discuss robotic languages and programming methods, decision autonomy and artificial intelligence and, finally, the computer-aided design of robots.\u003cbr\u003e\u003cbr\u003e\u003cb\u003eTable of Contents\u003c\/b\u003e\u003cbr\u003e1 Definitions and objectives.- Origin of the word ‘robot’.- Robotics today.- What is a robot?.- Classification of robots.- Conclusions.- 2 Structure and specification of articulated robots.- Degrees of freedom of a solid.- Degrees of freedom of a robot.- Position of the vehicle and resulting redundancy of degrees of freedom.- How many degrees of freedom?.- False degrees of freedom.- Architecture of the arm.- Description of articulated mechanical systems.- Conclusions.- 3 Articulated mechanical systems: determination of kinematic elements.- Computation of the orientation of a chain relative to a set bound to an upper segment.- Computation of the orientation of a chain relative to a set bound to a lower segment.- Computation of the position of a point on a chain in relation to an upper segment.- Computation of the position of a point on a chain in relation to a lower segment.- Determination of the velocity vectors of rotation of different segments of a chain relative to a set of coordinate axes.- Determination of the velocity vectors of translation of different segments of a chain relative to a set of coordinate axes.- Conclusions.- 4 Calculation of robot articulation variables.- The absence of a solution.- An infinite number of solutions.- A limited number of solutions.- Practical choice of [Pi(R0), Sj(R0)].- Mechanisms with six degrees of freedom.- Mechanisms with more than six degrees of freedom.- Conclusions.- 5 Positional control of articulated robots.- Reference and starting configurations.- The principles of positional control.- Balanced and initialization configurations.- The problems associated with positional control.- 6 Speed control of articulated robots.- The principles of speed control.- Problems arising from the use of equation (6-16).- Methods of resolving redundant systems.- Conclusions.- 7 Articulated mechanical systems: the dynamic model.- A dynamic model for an open articulated chain of rigid segments, without backlash or friction.- Development of a dynamic equation for a system having three degrees of freedom.- Another type of model: the bond graph.- Difficulties with dynamic models.- A dynamic model of a belt drive.- Conclusions.- 8 Dynamic control of articulated robots.- Problems associated with real time and computation.- Simplification of the equation of the model.- Other methods of dynamic control.- The choice of the space used in computation.- Conclusions.- 9 Learning and trajectory generation.- Methods of recording trajectories.- Manual control used outside of training.- Improved controls.- Trajectory generation.- Conclusions.- 10 Tasks and performance of articulated robots.- Description of tasks.- The performance of articulated robots.- Conclusions.- References.","brand":"Springer Us","offers":[{"title":"Default Title","offer_id":52090912866647,"sku":"9781468468489","price":42.74,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0817\/1739\/5799\/files\/9781468468489.jpg?v=1762273755","url":"https:\/\/bookcurl.com\/products\/modelling-and-control-1-robot-technology-9781468468489","provider":"Book Curl","version":"1.0","type":"link"}