Start Over Please hold this item Export MARC Display Return To Browse
 
     
Record: Previous Record Next Record
Author Siciliano, Bruno, 1959-
Title Springer handbook of robotics.
Publication Info Cham : Springer International Publishing, 2016.
Edition 2nd ed.


Click on the following to:
Go to ebook
Persistent link to this item
Click link and copy URL from browser navigation toolbar

Descript 1 online resource (2259 p.)
Edition 2nd ed.
Note Description based upon print version of record.
Contents Foreword -- Foreword -- Foreword -- Foreword -- Preface to the Second Edition -- Preface to the Multimedia Extension -- About the Editors -- About the Part Editors -- About the Multimedia Editors -- List of Authors -- Contents -- List of Abbreviations -- 1 Robotics and the Handbook -- 1.1 A Brief History of Robotics -- 1.2 The Robotics Community -- 1.3 This Handbook -- Video-References -- Part A Robotics Foundations -- 2 Kinematics -- 2.1 Overview -- 2.2 Position and Orientation Representation -- 2.3 Joint Kinematics -- 2.4 Geometric Representation -- 2.5 Workspace -- 2.6 Forward Kinematics
2.7 Inverse Kinematics -- 2.8 Forward Instantaneous Kinematics -- 2.9 Inverse Instantaneous Kinematics -- 2.10 Static Wrench Transmission -- 2.11 Conclusions and Further Reading -- References -- 3 Dynamics -- 3.1 Overview -- 3.2 Spatial Vector Notation -- 3.3 Canonical Equations -- 3.4 Dynamic Models of Rigid-Body Systems -- 3.5 Kinematic Trees -- 3.6 Kinematic Loops -- 3.7 Conclusions and Further Reading -- References -- 4 Mechanism and Actuation -- 4.1 Overview -- 4.2 System Features -- 4.3 Kinematics and Kinetics -- 4.4 Serial Robots -- 4.5 Parallel Robots -- 4.6 Mechanical Structure
4.7 Joint Mechanisms -- 4.8 Actuators -- 4.9 Robot Performance -- 4.10 Conclusions and Further Reading -- Video-References -- References -- 5 Sensing and Estimation -- 5.1 Introduction -- 5.2 The Perception Process -- 5.3 Sensors -- 5.4 Estimation Processes -- 5.5 Representations -- 5.6 Conclusions and Further Readings -- References -- 6 Model Identification -- 6.1 Overview -- 6.2 Kinematic Calibration -- 6.3 Inertial Parameter Estimation -- 6.4 Identifiability and Numerical Conditioning -- 6.5 Conclusions and Further Reading -- Video-References -- References -- 7 Motion Planning
7.1 Robotics Motion Planning -- 7.2 Motion Planning Concepts -- 7.3 Sampling-Based Planning -- 7.4 Alternative Approaches -- 7.5 Differential Constraints -- 7.6 Extensions and Variations -- 7.7 Advanced Issues -- 7.8 Conclusions and Further Reading -- Video-References -- References -- 8 Motion Control -- 8.1 Introduction to Motion Control -- 8.2 Joint Space Versus Operational Space Control -- 8.3 Independent-Joint Control -- 8.4 PID Control -- 8.5 Tracking Control -- 8.6 Computed-Torque Control -- 8.7 Adaptive Control -- 8.8 Optimal and Robust Control -- 8.9 Trajectory Generation and Planning
8.10 Digital Implementation -- 8.11 Learning Control -- Video-References -- References -- 9 Force Control -- 9.1 Background -- 9.2 Indirect Force Control -- 9.3 Interaction Tasks -- 9.4 Hybrid Force/Motion Control -- 9.5 Conclusionsand Further Reading -- Video-References -- References -- 10 Redundant Robots -- 10.1 Overview -- 10.2 Task-Oriented Kinematics -- 10.3 Inverse Differential Kinematics -- 10.4 Redundancy Resolution via Optimization -- 10.5 Redundancy Resolution via Task Augmentation -- 10.6 Second-Order Redundancy Resolution -- 10.7 Cyclicity -- 10.8 Fault Tolerance
10.9 Conclusion and Further Reading
Note 325 annual accesses. UkHlHU
ISBN 9783319325521
 Click on the terms below to find similar items in the catalogue
Author Siciliano, Bruno, 1959-
Series Springer handbooks
Springer handbooks
Subject Robotics -- Handbooks, manuals, etc.
Alt author Khatib, Oussama.
Descript 1 online resource (2259 p.)
Edition 2nd ed.
Note Description based upon print version of record.
Contents Foreword -- Foreword -- Foreword -- Foreword -- Preface to the Second Edition -- Preface to the Multimedia Extension -- About the Editors -- About the Part Editors -- About the Multimedia Editors -- List of Authors -- Contents -- List of Abbreviations -- 1 Robotics and the Handbook -- 1.1 A Brief History of Robotics -- 1.2 The Robotics Community -- 1.3 This Handbook -- Video-References -- Part A Robotics Foundations -- 2 Kinematics -- 2.1 Overview -- 2.2 Position and Orientation Representation -- 2.3 Joint Kinematics -- 2.4 Geometric Representation -- 2.5 Workspace -- 2.6 Forward Kinematics
2.7 Inverse Kinematics -- 2.8 Forward Instantaneous Kinematics -- 2.9 Inverse Instantaneous Kinematics -- 2.10 Static Wrench Transmission -- 2.11 Conclusions and Further Reading -- References -- 3 Dynamics -- 3.1 Overview -- 3.2 Spatial Vector Notation -- 3.3 Canonical Equations -- 3.4 Dynamic Models of Rigid-Body Systems -- 3.5 Kinematic Trees -- 3.6 Kinematic Loops -- 3.7 Conclusions and Further Reading -- References -- 4 Mechanism and Actuation -- 4.1 Overview -- 4.2 System Features -- 4.3 Kinematics and Kinetics -- 4.4 Serial Robots -- 4.5 Parallel Robots -- 4.6 Mechanical Structure
4.7 Joint Mechanisms -- 4.8 Actuators -- 4.9 Robot Performance -- 4.10 Conclusions and Further Reading -- Video-References -- References -- 5 Sensing and Estimation -- 5.1 Introduction -- 5.2 The Perception Process -- 5.3 Sensors -- 5.4 Estimation Processes -- 5.5 Representations -- 5.6 Conclusions and Further Readings -- References -- 6 Model Identification -- 6.1 Overview -- 6.2 Kinematic Calibration -- 6.3 Inertial Parameter Estimation -- 6.4 Identifiability and Numerical Conditioning -- 6.5 Conclusions and Further Reading -- Video-References -- References -- 7 Motion Planning
7.1 Robotics Motion Planning -- 7.2 Motion Planning Concepts -- 7.3 Sampling-Based Planning -- 7.4 Alternative Approaches -- 7.5 Differential Constraints -- 7.6 Extensions and Variations -- 7.7 Advanced Issues -- 7.8 Conclusions and Further Reading -- Video-References -- References -- 8 Motion Control -- 8.1 Introduction to Motion Control -- 8.2 Joint Space Versus Operational Space Control -- 8.3 Independent-Joint Control -- 8.4 PID Control -- 8.5 Tracking Control -- 8.6 Computed-Torque Control -- 8.7 Adaptive Control -- 8.8 Optimal and Robust Control -- 8.9 Trajectory Generation and Planning
8.10 Digital Implementation -- 8.11 Learning Control -- Video-References -- References -- 9 Force Control -- 9.1 Background -- 9.2 Indirect Force Control -- 9.3 Interaction Tasks -- 9.4 Hybrid Force/Motion Control -- 9.5 Conclusionsand Further Reading -- Video-References -- References -- 10 Redundant Robots -- 10.1 Overview -- 10.2 Task-Oriented Kinematics -- 10.3 Inverse Differential Kinematics -- 10.4 Redundancy Resolution via Optimization -- 10.5 Redundancy Resolution via Task Augmentation -- 10.6 Second-Order Redundancy Resolution -- 10.7 Cyclicity -- 10.8 Fault Tolerance
10.9 Conclusion and Further Reading
Note 325 annual accesses. UkHlHU
ISBN 9783319325521
Author Siciliano, Bruno, 1959-
Series Springer handbooks
Springer handbooks
Subject Robotics -- Handbooks, manuals, etc.
Alt author Khatib, Oussama.

Subject Robotics -- Handbooks, manuals, etc.
Descript 1 online resource (2259 p.)
Note Description based upon print version of record.
Contents Foreword -- Foreword -- Foreword -- Foreword -- Preface to the Second Edition -- Preface to the Multimedia Extension -- About the Editors -- About the Part Editors -- About the Multimedia Editors -- List of Authors -- Contents -- List of Abbreviations -- 1 Robotics and the Handbook -- 1.1 A Brief History of Robotics -- 1.2 The Robotics Community -- 1.3 This Handbook -- Video-References -- Part A Robotics Foundations -- 2 Kinematics -- 2.1 Overview -- 2.2 Position and Orientation Representation -- 2.3 Joint Kinematics -- 2.4 Geometric Representation -- 2.5 Workspace -- 2.6 Forward Kinematics
2.7 Inverse Kinematics -- 2.8 Forward Instantaneous Kinematics -- 2.9 Inverse Instantaneous Kinematics -- 2.10 Static Wrench Transmission -- 2.11 Conclusions and Further Reading -- References -- 3 Dynamics -- 3.1 Overview -- 3.2 Spatial Vector Notation -- 3.3 Canonical Equations -- 3.4 Dynamic Models of Rigid-Body Systems -- 3.5 Kinematic Trees -- 3.6 Kinematic Loops -- 3.7 Conclusions and Further Reading -- References -- 4 Mechanism and Actuation -- 4.1 Overview -- 4.2 System Features -- 4.3 Kinematics and Kinetics -- 4.4 Serial Robots -- 4.5 Parallel Robots -- 4.6 Mechanical Structure
4.7 Joint Mechanisms -- 4.8 Actuators -- 4.9 Robot Performance -- 4.10 Conclusions and Further Reading -- Video-References -- References -- 5 Sensing and Estimation -- 5.1 Introduction -- 5.2 The Perception Process -- 5.3 Sensors -- 5.4 Estimation Processes -- 5.5 Representations -- 5.6 Conclusions and Further Readings -- References -- 6 Model Identification -- 6.1 Overview -- 6.2 Kinematic Calibration -- 6.3 Inertial Parameter Estimation -- 6.4 Identifiability and Numerical Conditioning -- 6.5 Conclusions and Further Reading -- Video-References -- References -- 7 Motion Planning
7.1 Robotics Motion Planning -- 7.2 Motion Planning Concepts -- 7.3 Sampling-Based Planning -- 7.4 Alternative Approaches -- 7.5 Differential Constraints -- 7.6 Extensions and Variations -- 7.7 Advanced Issues -- 7.8 Conclusions and Further Reading -- Video-References -- References -- 8 Motion Control -- 8.1 Introduction to Motion Control -- 8.2 Joint Space Versus Operational Space Control -- 8.3 Independent-Joint Control -- 8.4 PID Control -- 8.5 Tracking Control -- 8.6 Computed-Torque Control -- 8.7 Adaptive Control -- 8.8 Optimal and Robust Control -- 8.9 Trajectory Generation and Planning
8.10 Digital Implementation -- 8.11 Learning Control -- Video-References -- References -- 9 Force Control -- 9.1 Background -- 9.2 Indirect Force Control -- 9.3 Interaction Tasks -- 9.4 Hybrid Force/Motion Control -- 9.5 Conclusionsand Further Reading -- Video-References -- References -- 10 Redundant Robots -- 10.1 Overview -- 10.2 Task-Oriented Kinematics -- 10.3 Inverse Differential Kinematics -- 10.4 Redundancy Resolution via Optimization -- 10.5 Redundancy Resolution via Task Augmentation -- 10.6 Second-Order Redundancy Resolution -- 10.7 Cyclicity -- 10.8 Fault Tolerance
10.9 Conclusion and Further Reading
Note 325 annual accesses. UkHlHU
Alt author Khatib, Oussama.
ISBN 9783319325521
Persistent link to this item
Click link and copy URL from browser navigation toolbar

Links and services for this item:

Persistent link to this item
Click link and copy URL from browser navigation toolbar