Automation for robotics
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| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York, NY
Wiley
2015
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| Ausgabe: | 1. Aufl. |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
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Datensatz im Suchindex
| _version_ | 1819785727041339392 |
|---|---|
| adam_text | Titel: Automation for robotics
Autor: Jaulin, Luc
Jahr: 2015
Contents
Introduction ........................ vii
Chapter 1. Modeling................... 1
1.1. Linear Systems..................... 1
1.2. Mechanical Systems.................. 2
1.3. Servomotors....................... 4
1.4. Exercises......................... 4
1.5. Solutions......................... 21
Chapter 2. Simulation ................. 47
2.1. Concept of vector field................. 47
2.2. Graphical representation............... 49
2.2.1. Patterns....................... 50
2.2.2. Rotation matrix.................. 50
2.2.3. Homogeneous coordinates............ 52
2.3. Simulation........................ 54
2.3.1. Euler s method................... 54
2.3.2. Runge-Kutta method............... 55
2.3.3. Taylor s method .................. 56
2.4. Exercises......................... 56
2.5. Solutions......................... 67
vi Automation for Robotics
Chapter 3. Linear Systems .............. 85
3.1. Stability......................... 85
3.2. Laplace transform................... 87
3.2.1. Laplace variable.................. 87
3.2.2. Transfer function ................. 88
3.2.3. Laplace transform................. 88
3.2.4. Input-output relation............... 90
3.3. Relationship between state and transfer
representations..................... 90
3.4. Exercises......................... 92
3.5. Solutions......................... 103
Chapter 4. Linear Control.............. 127
4.1. Controllability and observability.......... 128
4.2. State feedback control ................ 129
4.3. Output feedback control............... 130
4.4. Summary........................ 133
4.5. Exercises......................... 134
4.6. Solutions......................... 150
Chapter 5. Linearized Control .......... 185
5.1. Linearization...................... 185
5.1.1. Linearization ofa function............ 185
5.1.2. Linearization ofa dynamic System....... 187
5.1.3. Linearization around an operating point . . . 187
5.2. Stabilization of a nonlinear System........ 188
5.3. Exercises......................... 191
5.4. Solutions......................... 207
BlBLIOGRAPHY ........................ 235
Index............................... 237
|
| any_adam_object | 1 |
| author | Jaulin, Luc |
| author_facet | Jaulin, Luc |
| author_role | aut |
| author_sort | Jaulin, Luc |
| author_variant | l j lj |
| building | Verbundindex |
| bvnumber | BV042480975 |
| classification_rvk | ZQ 6250 |
| ctrlnum | (OCoLC)1011599675 (DE-599)BVBBV042480975 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Book |
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| id | DE-604.BV042480975 |
| illustrated | Illustrated |
| indexdate | 2024-12-24T04:25:18Z |
| institution | BVB |
| isbn | 9781848217980 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-027915950 |
| oclc_num | 1011599675 |
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| owner | DE-573 |
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| physical | 238 S. graph. Darst. |
| publishDate | 2015 |
| publishDateSearch | 2015 |
| publishDateSort | 2015 |
| publisher | Wiley |
| record_format | marc |
| spellingShingle | Jaulin, Luc Automation for robotics Automation (DE-588)4003957-2 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4003957-2 (DE-588)4050208-9 |
| title | Automation for robotics |
| title_auth | Automation for robotics |
| title_exact_search | Automation for robotics |
| title_full | Automation for robotics Luc Jaulin |
| title_fullStr | Automation for robotics Luc Jaulin |
| title_full_unstemmed | Automation for robotics Luc Jaulin |
| title_short | Automation for robotics |
| title_sort | automation for robotics |
| topic | Automation (DE-588)4003957-2 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Automation Roboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027915950&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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