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Download or read book Robot Manipulators written by Etienne Dombre and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
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Download or read book Analysis And Differential Equations Second Edition written by Odile Pons and published by World Scientific. This book was released on 2022-12-19 with total page 305 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book presents advanced methods of integral calculus and optimization, the classical theory of ordinary and partial differential equations and systems of dynamical equations. It provides explicit solutions of linear and nonlinear differential equations, and implicit solutions with discrete approximations.The main changes of this second edition are: the addition of theoretical sections proving the existence and the unicity of the solutions for linear differential equations on real and complex spaces and for nonlinear differential equations defined by locally Lipschitz functions of the derivatives, as well as the approximations of nonlinear parabolic, elliptic, and hyperbolic equations with locally differentiable operators which allow to prove the existence of their solutions; furthermore, the behavior of the solutions of differential equations under small perturbations of the initial condition or of the differential operators is studied.
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Download or read book The Postmodern Condition written by Jean-François Lyotard and published by U of Minnesota Press. This book was released on 1984 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book it explores science and technology, makes connections between these epistemic, cultural, and political trends, and develops profound insights into the nature of our postmodernity.
