| Description |
xvi, 295 pages : illustrations |
| Series |
World Scientific series in robotics and automated systems ; v. 8 |
|
World Scientific series in robotics and automated systems ; v. 8
|
| Contents |
Foreword / Kevin Warwick -- 1. Introduction. 1.2. Robotics and Parallel Processor Architectures -- 2. The Parallel Processing Approach. 2.3. Transputers, OCCAM and Parallel Processing. 2.4. The Occam Model. 2.5. Organisation of Parallel Computational Networks. 2.6. Cost-Performance Analysis -- 3. Robot Kinematics. 3.2. The Development of Notations. 3.3. Kinematic Modelling of Robot Manipulators. 3.4. The Kinematic Problem -- 4. Computing the Jacobian. 4.3. Differential Motion. 4.4. The Jacobian. 4.5. Solving for the Jacobian. 4.6. Parallel Computation of the Jacobian -- 5. Inverse Jacobian Computation. 5.3. The Inverse Jacobian. 5.4. Parallel Computations and the Inverse Jacobian. 5.5. Inverse Jacobian Near Singularity Points -- 6. Robot Dynamics. 6.3. The Lagrange-Euler Formulation. 6.4. A Simplified Lagrange-Euler. 6.5. The Load and No-Load Conditions -- 7. Parallel Computations of Robot Dynamics. 7.3. Manipulator Dynamics (PCLE). 7.4. Parallel Computation of the PCLE |
|
7.5. Results and Analysis. 7.6. The Newton-Euler Formulation. 7.7. General Simplifications. 7.8. Parallel Implementation of the SCNE. 7.9. Results and Analysis. 7.10. The Forward Dynamics Problem -- 8. Tuning of Robot Dynamics. 8.3. Robot Dynamic Parameters. 8.4. Dynamics Tuning Procedure. 8.5. Case Study -- 9. Concluding Remarks. 9.1. Kinematics. 9.2. Dynamics. 9.3. Tuning of Robot Dynamics |
| Bibliography |
Includes bibliographical references and index |
| Subject |
Manipulators (Mechanism) -- Computer simulation.
|
|
Parallel processing (Electronic computers)
|
| LC no. |
92019666 |
| ISBN |
9810210434 |
|
