کتاب Modelling and Control of Robot Manipulators نوشته پروفسورLorenzo Sciavicco و Bruno Siciliano دو مهندس ایتالیایی است که به مدلسازی و کنترل بازوهای رباتیک در 9 فصل به همراه 190 شکل و سه پیوست پرداخته است.
عناوین فصل های این کتاب عبارتند از:
1-Introduction
1.1 Robotics
1.2 Industrial Robot
1.3 Manipulator Structures
1.4 Modelling and Control of Robot Manipulators
2. Kinematics
2.1 Position and Orientation of a Rigid Body 2.2 Rotation Matrix 2.3 Composition of Rotation Matrices
2.4 Euler Angles
2.5 Angle and Axis
2.6 Unit Quaternion
2.7 Homogeneous Transformations
2.8 Direct Kinematics
2.9 Kinematics of Typical Manipulator Structures
2.10 Joint Space and Operational Space 2.11 Kinematic Calibration
2.12 Inverse Kinematics Problem
3. Differential Kinematics and Statics
3.1 Geometric Jacobian
3.2 Jacobian of Typical Manipulator Structures
3.3 Kinematic Singularities
3.4 Analysis of Redundancy
3.5 Differential Kinematics Inversion
3.6 Analytical Jacobian
3.7 Inverse Kinematics Algorithms
3.8 Statics 3.9 Manipulability Ellipsoids
4. Dynamics
4.1 Lagrange Formulation
4.2 Notable Properties of Dynamic Model
4.3 Dynamic Model of Simple Manipulator Structures
4.4 Dynamic Parameter Identification
4.5 Newton-Euler Formulation 4.6 Direct Dynamics and Inverse Dynamics
4.7 Operational Space Dynamic Model
4.8 Dynamic Manipulability Ellipsoid
5. Trajectory Planning
5.1 Path and Trajectory
5.2 Joint Space Trajectories
5.3 Operational Space Trajectories
5.4 Dynamic Scaling of Trajectories
6. Motion Control
6.1 The Control Problem
6.2 Joint Space Control
6.3 Independent Joint Control
6.4 Computed Torque Feed forward Control
6.5 Centralized Control
6.6 Operational Space Control 6.7 A Comparison Between Various Control Schemes
7. Interaction Control
7.1 Manipulator Interaction with Environment
7.2 Compliance Control
7.3 Impedance Control
7.4 Force Control
7.5 Natural Constraints and Artificial Constraints
7.6 Hybrid Force/Position Control
8. Actuators and Sensors
8.1 Joint Actuating System
8.2 Servomotors
8.3 Sensors
9. Control Architecture
9.1 Functional Architecture
9.2 Programming Environment
9.3 Hardware Architecture
Appendix A. Linear Algebra
A.1 Definitions
A.2 Matrix Operations
A.3 Vector Operations
A.4 Linear Transformations
A.5 Eigenvalues and Eigenvectors
A.6 Bilinear Forms and Quadratic Forms
A.7 Pseudo-inverse
A.8 Singular Value Decomposition
Appendix B. Rigid Body Mechanics
B.1 Kinematics
B.2 Dynamics
B.3 Work and Energy
Appendix C. Feedback Control C1 Control of Single-input/Single-output Linear Systems
C2 Control of Nonlinear Mechanical Systems
C3 Lyapunov Direct Method
تعداد صفحات:390 زبان متن: انگلیسی
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