| Titre : | Modern robotics : Mechanics, planning, and control/ Lynch, Kevin M.; Park, Frank C. |
| Type de document : | texte imprimé |
| Editeur : | Cambridge : Cambridge University press, 2017 |
| ISBN/ISSN/EAN : | 978-1-107-15630-2 |
| Format : | 544 p. / tab., fig., sch., img. / 26 cm |
| Langues: | Anglais |
| Mots-clés: | Robot Kinematics ; Robot Dynamics ; Motion Planning ; Robot Control ; Rigid-Body Transformations ; Manipulation ; Grasping ; Mobile Robots. |
| Résumé : | Modern Robotics: Mechanics, Planning, and Control is a foundational textbook offering a mathematically thorough and practically relevant introduction to robotics. It takes you from the mechanics of motion, through how to plan trajectories in complex spaces, to how to design control systems that execute robotic tasks reliably. |
| Note de contenu : |
Key Content
The major topics and structure: Representation of rigid‐body motions, configuration spaces, transformation matrices, Lie group theory. Forward and inverse kinematics for serial and closed‐chain mechanisms. Velocity kinematics, statics, and dynamics for robot manipulators. Trajectory generation, motion planning algorithms (e.g., sampling‐based, configuration space, obstacles). Robot control methods including feedback control, computed torque / inverse dynamics, hybrid force‐motion control. Grasping and manipulation: modelling contact, force closure, object pushing/manipulation. Mobile robot kinematics, motion planning and control of wheeled robots. Appendices covering mathematical tools (optimization, Lagrange multipliers, D‐H parameters, etc.). |
Exemplaires (2)
| Code-barres | Cote | Support | Localisation | Section | Disponibilité |
|---|---|---|---|---|---|
| 110715630201 | 629.892/10 | Livre | Bibliothèque Estin | Documentaires | Consultation sur place Exclu du prêt |
| 110715630202 | 629.892/10.2 | Livre | Bibliothèque Estin | Documentaires | Consultation sur place Exclu du prêt |
