UID:
edoccha_9958112750802883
Format:
1 PDF (xi, 253 pages) :
,
illustrations.
ISBN:
0-262-26374-2
,
0-262-25662-2
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9786612096587
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1-282-09658-3
,
0-585-43672-X
Series Statement:
Intelligent robots and autonomous agents
Content:
""Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved--grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry."
Note:
"A Bradford book."
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Machine generated contents note: Chapter 1 Manipulation 1 -- 1.1 Case 1: Manipulation by a human 1 -- 1.2 Case 2: An automated assembly system 3 -- 1.3 Issues in manipulation 5 -- 1.4 A taxonomy of manipulation techniques 7 -- 1.5 Bibliographic notes 8 -- Exercises 8 --Chapter 2 Kinematics 11 -- 2.1 Preliminaries 11 -- 2.2 Planar kinematics 15 -- 2.3 Spherical kinematics 20 -- 2.4 Spatial kinematics 22 -- 2.5 Kinematic constraint 25 -- 2.6 Kinematic mechanisms 34 -- 2.7 Bibliographic notes 36 -- Exercises 37 --Chapter 3 Kinematic Representation 41 -- 3.1 Representation of spatial rotations 41 -- 3.2 Representation of spatial displacements 58 -- 3.3 Kinematic constraints 68 -- 3.4 Bibliographic notes 72 -- Exercises 72 --Chapter 4 Kinematic Manipulation 77 -- 4.1 Path planning 77 -- 4.2 Path planning for nonholonomic systems 84 -- 4.3 Kinematic models of contact 86 -- 4.4 Bibliographic notes 88 -- Exercises 88 Chapter 5 Rigid Body Statics 93 -- 5.1 Forces acting on rigid bodies 93 -- 5.2 Polyhedral convex cones 99 -- 5.3 Contact wrenches and wrench cones 102 -- 5.4 Cones in velocity twist space 104 -- 5.5 The oriented plane 105 -- 5.6 Instantaneous centers and Reuleaux's method 109 -- 5.7 Line of force; moment labeling 110 -- 5.8 Force dual 112 -- 5.9 Summary 117 -- 5.10 Bibliographic notes 117 -- Exercises 118 --Chapter 6 Friction 121 -- 6.1 Coulomb's Law 121 -- 6.2 Single degree-of-freedomproblems 123 -- 6.3 Planar single contact problems 126 -- 6.4 Graphical representation of friction cones 127 -- 6.5 Static equilibrium problems 128 -- 6.6 Planar sliding 130 -- 6.7 Bibliographic notes 139 -- Exercises 139 --Chapter 7 Quasistatic Manipulation 143 -- 7.1 Grasping and fixturing 143 -- 7.2 Pushing 147 -- 7.3 Stable pushing 153 -- 7.4 Parts orienting 162 -- 7.5 Assembly 168 -- 7.6 Bibliographic notes 173 -- Exercises 175 -- Chapter 8 Dynamics 181 -- 8.1 Newton's laws 181 -- 8.2 A particle in three dimensions 181 -- 8.3 Moment of force; moment of momentum 183 -- 8.4 Dynamics of a system of particles 184 -- 8.5 Rigid body dynamics 186 -- 8.6 The angular inertia matrix 189 -- 8.7 Motion of a freely rotating body 195 -- 8.8 Planar single contact problems 197 -- 8.9 Graphical methods for the plane 203 -- 8.10 Planar multiple-contact problems 205 -- 8.11 Bibliographic notes 207 -- Exercises 208 --Chapter 9 Impact 211 -- 9.1 Aparticle 211 -- 9.2 Rigid body impact 217 -- 9.3 Bibliographic notes 223 -- Exercises 223 --Chapter 10 Dynamic Manipulation 225 -- 10.1 Quasidynamic manipulation 225 -- 10.2 Briefly dynamic manipulation 229 -- 10.3 Continuously dynamic manipulation 230 -- 10.4 Bibliographic notes 232 -- Exercises 235.
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Also available in print.
,
English
Additional Edition:
ISBN 0-262-13396-2
Language:
English
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