9780262133968

Mechanics of Robotic Manipulation

by
  • ISBN13:

    9780262133968

  • ISBN10:

    0262133962

  • Format: Hardcover
  • Copyright: 2001-08-01
  • Publisher: Bradford Books

Note: Supplemental materials are not guaranteed with Rental or Used book purchases.

Purchase Benefits

  • Free Shipping On Orders Over $35!
    Your order must be $35 or more to qualify for free economy shipping. Bulk sales, PO's, Marketplace items, eBooks and apparel do not qualify for this offer.
  • Get Rewarded for Ordering Your Textbooks! Enroll Now
List Price: $53.00 Save up to $26.50
  • Rent Book $26.50
    Add to Cart Free Shipping

    TERM
    PRICE
    DUE

Supplemental Materials

What is included with this book?

  • The New copy of this book will include any supplemental materials advertised. Please check the title of the book to determine if it should include any access cards, study guides, lab manuals, CDs, etc.
  • The Used and Rental copies of this book are not guaranteed to include any supplemental materials. Typically, only the book itself is included. This is true even if the title states it includes any access cards, study guides, lab manuals, CDs, etc.

Summary

"Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulationaddresses 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.

Table of Contents

Preface ix
Manipulation
1(10)
Manipulation by a human
1(2)
An automated assembly system
3(2)
Issues in manipulation
5(2)
A taxonomy of manipulation techniques
7(1)
Bibliographic notes
8(3)
Exercises
8(3)
Kinematics
11(30)
Preliminaries
11(4)
Planar kinematics
15(5)
Spherical kinematics
20(2)
Spatial kinematics
22(3)
Kinematic constraint
25(9)
Kinematic mechanisms
34(2)
Bibliographic notes
36(5)
Exercises
37(4)
Kinematic Representation
41(36)
Representation of spatial rotations
41(17)
Representation of spatial displacements
58(10)
Kinematic constraints
68(4)
Bibliographic notes
72(5)
Exercises
72(5)
Kinematic Manipulation
77(16)
Path planning
77(7)
Path planning for nonholonomic systems
84(2)
Kinematic models of contact
86(2)
Bibliographic notes
88(5)
Exercises
88(5)
Rigid Body Statics
93(28)
Forces acting on rigid bodies
93(6)
Polyhedral convex cones
99(3)
Contact wrenches and wrench cones
102(2)
Cones in velocity twist space
104(1)
The oriented plane
105(4)
Instantaneous centers and Reuleaux's method
109(1)
Line of force; moment labeling
110(2)
Force dual
112(5)
Summary
117(1)
Bibliographic notes
117(4)
Exercises
118(3)
Friction
121(22)
Coulomb's Law
121(2)
Single degree-of-freedom problems
123(3)
Planar single contact problems
126(1)
Graphical representation of friction cones
127(1)
Static equilibrium problems
128(2)
Planar sliding
130(9)
Bibliographic notes
139(4)
Exercises
139(4)
Quasistatic Manipulation
143(38)
Grasping and fixturing
143(4)
Pushing
147(6)
Stable pushing
153(9)
Parts orienting
162(6)
Assembly
168(5)
Bibliographic notes
173(8)
Exercises
175(6)
Dynamics
181(30)
Newton's laws
181(1)
A particle in three dimensions
181(2)
Moment of force; moment of momentum
183(1)
Dynamics of a system of particles
184(2)
Rigid body dynamics
186(3)
The angular inertia matrix
189(6)
Motion of a freely rotating body
195(2)
Planar single contact problems
197(6)
Graphical methods for the plane
203(2)
Planar multiple-contact problems
205(2)
Bibliographic notes
207(4)
Exercises
208(3)
Impact
211(14)
A particle
211(6)
Rigid body impact
217(6)
Bibliographic notes
223(2)
Exercises
223(2)
Dynamic Manipulation
225(12)
Quasidynamic manipulation
225(4)
Briefly dynamic manipulation
229(1)
Continuously dynamic manipulation
230(2)
Bibliographic notes
232(5)
Exercises
235(2)
Appendix A Infinity 237(4)
References 241(6)
Author Index 247(2)
Subject Index 249

Rewards Program

Write a Review