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.

Robot Modeling And Control Spong Pdf

Language:English, Japanese, German
Country:San Marino
Genre:Personal Growth
Published (Last):26.06.2016
ePub File Size:23.82 MB
PDF File Size:8.64 MB
Distribution:Free* [*Registration needed]
Uploaded by: MAIRE

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.

Find a copy in the library Finding libraries that hold this item Details Material Type: Internet resource Document Type: Reviews User-contributed reviews Add a review and share your thoughts with other readers.

Be the first. Add a review and share your thoughts with other readers.

Similar Items Related Subjects: Robots -- Dynamics. Linked Data More info about Linked Data. Primary Entity http: Book , schema: Intangible ;. Spong " ;. InformationResource , genont: Home About Help Search.

All rights reserved. Privacy Policy Terms and Conditions.

Robot Modeling And Control Mark W Spong Pdf

Remember me on this computer. Cancel Forgot your password?

English View all editions and formats. Robots -- Control systems.

View all subjects. Student View Student Companion Site. About the Author Mark W. Permissions Request permission to reuse content from this site.

Find a copy in the library

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.

Would you also like to submit a review for this item?

Follow the author

Find a copy online Links to this item Table of contents Kostenfrei. Allow this favorite library to be seen by others Keep this favorite library private. This item: Gene F.

This book was a requirement for my Robotics curriculum.