Trajectory planning for automatic machines and robots

This book presents the problems of trajectory planning and motion law generation for automatic machines and robots. These aspects are more and more relevant in the design of the motion control system in automatic machines and robots,especially in applications were high dynamics in the payloads are desired, orin case vibrations and/or nonlinear undesired effects are present in the mechanical system. In the book a detailed presentation of several techniques for trajectories definition is reported, both in the one-dimensional and in the multi-dimensional space. Then, an accurate analysis related to their practical implementation and use is presented. In particular, the trajectories are analysed in the time and frequency domain, and criteria for their choice are discussed. These consider the features of both the mechanical and of the actuation system (e.g. mechanical bandwidth, motor saturations, etc.) High quality survey volume on robot control theory Dedicated to Suguru Arimoto, Ritsumeikan University, Japan, who is turning 70 next year and has been one of the major contributors in this area INDICE: Part I Basic Motion Profiles.- Part III Trajectories in the Operational Space.- Part IV Appendices.

• ISBN: 978-3-540-85628-3
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 515
• Fecha Publicación: 01/01/2009
• Nº Volúmenes: 1
• Idioma: Inglés