Robot Modeling and. Control. First Edition. Mark W. Spong, Seth Hutchinson, and M. Vidyasagar. JOHN WILEY & SONS, INC. New York / Chichester / Weinheim. Dynamics and Control. Second Edition. Mark W. Spong, Seth Hutchinson, and M. Vidyasagar .. Network Models and Impedance. .. Robots are classified by control method into servo and non-servo robots. The earli-. Course literature: – M.W. Spong, S. Hutchinson, and M. Vidyasagar: Robot Modeling and Control. – L. Sciavicco and B. Siciliano: Modelling and Control of Robot.
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Get this from a library! Robot modeling and control. [Mark W Spong; Seth Hutchinson; M Vidyasagar]. 1 INTRODUCTION. MATHEMATICAL MODELING OF ROBOTS. .. matics, dynamics, motion planning, computer vision, and control. Our goal is to provide. Robot Modeling and Control by MARK W. SPONG,. SETH HUTCHINSON, and M. VIDYASAGAR. The field of robotics began in the s and s with the.
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Robot Modeling And Control Mark W Spong Pdf
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Table of contents Preface. Rigid Motions and Homogeneous Transformations. Forward and Inverse Kinematics. Velocity Kinematics-The Jacobian. Path and Trajectory Planning.
Independent Joint Control.
Multivariable Control. Force Control. Geometric Nonlinear Control.
Computer Vision. Vision-Based Control. Appendix A: Appendix B: Linear Algebra. Appendix C: The difficulty of controlling a manipulator increases rapidly with the number of links.
The state space is the set of all possible states. The dimension of the state space is thus 2n if the system has n DOF. The workspace is constrained by the geometry of the manipulator as well as mechanical con- straints on the joints. The workspace is often broken down into a reach- able workspace and a dexterous workspace.
The reachable workspace is the entire set of points reachable by the manipulator, whereas the dexterous workspace consists of those points that the manipulator can reach with an ar- bitrary orientation of the end-effector.
Robot modeling and control
Obviously the dexterous workspace is a subset of the reachable workspace. The workspaces of several robots are shown later in this chapter. These include mechanical aspects e. In this section, we briefly describe some of these.
Such classification is useful primarily in order to determine which robot is right for a given task. For example, a hydraulic robot would not be suitable for food handling or clean room applications.
We explain this in more detail below. Typically, robots are either electrically, hydraulically, or pneu- matically powered.
Hydraulic actuators are unrivaled in their speed of response and torque producing capability. Therefore hydraulic robots are used primar- ily for lifting heavy loads. The drawbacks of hydraulic robots are that they tend to leak hydraulic fluid, require much more peripheral equipment such as pumps, which require more maintenance , and they are noisy.
Robot Modeling and Control
Robots driven by DC- or AC-servo motors are increasingly popular since they are cheaper, cleaner and quieter. Pneumatic robots are inexpensive and simple but cannot be controlled precisely.It is a fairly straightforward look at how to approach modelling robotic movement as well as including chapters on computer vision. Servo controlled robots are further classified according to the method that the controller uses to guide the end-effector.
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This book was a requirement for my Robotics curriculum.