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Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meanings of the concepts and equations used, and it provides, in an intuitively clearway, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The first chapter is an overview of typical robot manipulator mechanisms and their controllers. The next three chapters are devoted to the analysis of robot manipulator mechanisms. Chapter 2 covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. Chapter 3, on dynamics, includes the derivation of the dynamic equations of motion, their use for control and simulation, and the identification of inertial parameters. Chapter 4 develops the concept of manipulability.The second half of the book focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator`s end effector along a desired trajectory are described in Chapter 5. Two typical methods used to control the contact force between the end effector and its environments are detailed in Chapter 6. For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described in Chapter 7. Appendices give compact reviews of the function atan2, pseudo-inverses, singular-value.isbn- 9788120313613
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