Download PDF by Moshe Shoham (auth.): A Textbook of Robotics 2: Structure, Control and Operation

By Moshe Shoham (auth.)

ISBN-10: 1461598885

ISBN-13: 9781461598886

ISBN-10: 1461598907

ISBN-13: 9781461598909

Show description

Read or Download A Textbook of Robotics 2: Structure, Control and Operation PDF

Best textbook books

Introductory Horticulture (8th Edition) - download pdf or read online

INTRODUCTORY HORTICULTURE, 8th variation, is the definitive textual content for horticulture technology. Written in a concise, effortless -to -read and logically geared up demeanour, this article covers development adjustments within the agricultural undefined, rules in landscaping, company operations, and GIS makes use of within the panorama eco-friendly undefined.

Read e-book online Introduction to Physical Anthropology (2011-2012 Edition) PDF

Creation TO actual ANTHROPOLOGY 2011-2012 keeps to offer a present, well-balanced, and complete advent to the sector, combining an interesting writing sort and compelling visible content material to carry the learn of actual anthropology to lifestyles for today's scholars. With a spotlight at the gigantic photograph of human evolution, the textual content is helping scholars grasp the elemental ideas of the topic and arrive at an realizing of the human species and its position within the organic global.

New PDF release: Computer Networks and Internets (5th Edition)

Desktop Networks and Internets is suitable for all introductory-to-intermediate classes in computing device networking, the net, or net functions; readers want no history in networking, working structures, or complicated arithmetic.

Leading networking authority Douglas Comer provides a wide-ranging, self-contained journey of the suggestions, ideas, and applied sciences that allow today’s net to aid functions starting from internet searching to telephony and multimedia. This 5th version has been completely reorganized, revised, and up-to-date: it comprises vast new assurance of issues starting from instant protocols to community functionality, whereas lowering or removing assurance of older protocols and applied sciences. Comer starts via illuminating the purposes and amenities provided by means of today’s net. subsequent, he systematically introduces the underlying community applied sciences and protocols that lead them to attainable: low-level facts communications; packet switching, LAN, and WAN applied sciences; and net protocols corresponding to TCP, IP, UDP, and IPv6. With those options and applied sciences verified, he introduces a number of of crucial modern concerns confronted through community implementers and bosses, together with caliber of provider, net telephony, multimedia, community safeguard, and community administration. Comer has rigorously designed this publication to aid either top-down and bottom-up educating ways. scholars desire no heritage in working structures, and no subtle math: Comer is based all through on figures, drawings, examples, and analogies, no longer mathematical proofs.

New PDF release: Critical Thinking (11th Edition)

The 1st built-in software designed in particular for the severe considering direction, Moore & Parker's severe considering teaches scholars the abilities they wish in an effort to imagine for themselves - talents they are going to name upon during this path, in different university classes, and on the earth that awaits. The authors' useful and available method illustrates center suggestions with concrete real-world examples, vast perform routines, and a considerate set of pedagogical positive factors.

Additional resources for A Textbook of Robotics 2: Structure, Control and Operation

Example text

Now we will explore the characteristics of each group, in order to determine how we can predict the tasks a certain robot may be called upon to perform, on the basis of its characteristics alone. 25: A schematic diagram of the Prab robot (above) showing the axes of motion 39 Structure, Control and Operation We will cover three broad characteristics: mechanical rigidity, ease of control, and work envelope as it affects work volume. Mechanical Rigidity The mechanical rigidity of a structure is a measure of the extent to which it is distorted by loads acting on it.

In the following sections, we will compute 46 The mechanical arm the work envelopes of the various types of robots and compare them. To form a basis for comparison, we will make three assumptions: * * * All robot links will be of a standard length, L. The extent of linear motion of all prismatic joints is equal to A. All revolute joints can rotate 3600. 28: The work volume of a Cartesian robot 47 Structure, Control and Operation Cartesian Robot Work Volume The Cartesian robot executes three linear motions on three perpendicular axes.

Therefore, we can conclude that this arm has three degrees of freedom, two of them rotary and one linear. look at the schematic diagram in Figure 2-9, and the photographs in Figures 2-10 and 2-11. How many degrees of freedom do they have? 11 25 Structure, Control and Operation Most of today's robots have from four to seven degrees of freedom. Robots with less than four degrees of freedom are rarely seen today, and nearly no robots having eight or more degrees of freedom have been developed. Having learned to identify the types of robot joints and to calculate the number of degrees of freedom in a robot, we can now proceed to classify robots according to these data.

Download PDF sample

A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)

by Christopher

Rated 4.04 of 5 – based on 28 votes