A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
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DOI：
10.1201/9781315136370
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发表时间：
1994-03
影响因子：
5.3
通讯作者：
R. Murray;S. Sastry;Zexiang Li
中科院分区：
文献类型：
--
作者：
R. Murray;S. Sastry;Zexiang Li
简介：简史。多指手和灵巧的操作。这本书的大纲。参考书目。刚体运动：刚体变换。R3中的旋转运动。R3中的刚体运动。刚体的速度。扳手和螺丝。机械手运动学：导论。正运动学。逆运动学。操纵器雅可比矩阵。冗余并联机械臂。机器人动力学与控制：导论。拉格朗日方程。开链机械臂动力学。李亚普诺夫稳定性理论。位置控制和轨迹跟踪。约束机械臂的控制。多指手运动学：抓取入门。掌握静力学。力。掌握计划。掌握约束。滚动接触运动学。手动力学与控制：带约束的拉格朗日方程。机械手动力学。冗余和不可操作机器人系统。肌腱驱动的运动学和静力学。机器人手的控制。机器人系统中的非完整行为：导论。可控性和Frobenius定理。非完整系统的例子。非完整系统的结构。非完整运动规划：导论。正弦波转向模型控制系统。一般转向方法。动态手指重新定位。未来展望：危险环境中的机器人。多指手的医学应用。小型机器人：微型机器人。附录：李群和机器人运动学。螺旋微积分的Mathematica软件包。参考书目。每章还包括摘要、参考书目和练习
INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises