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Lectures on Numerical Methods in Bifurcation Problems
Methods for Finding Zeros in Polynomials
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Educational Psychology by Edward L. Thorndike
The Last Days of Tolstoy by V. G. Chertkov
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The Theory of the Theatre by Clayton Hamilton
The Mathematics of Investment
Occupiers of Wall Street: Losers or Game Changers
The Solution of the Pyramid Problem
Lectures on Moduli of Curves
Walden by Henry David Thoreau
Methods for Finding Zeros in Polynomials
Lectures on Stochastic Flows and Applications
Educational Psychology by Edward L. Thorndike
The Last Days of Tolstoy by V. G. Chertkov
Globalization and Responsibility
Lectures on Siegel Modular Forms and Representation by Quadratic Forms
Lectures on Topics In One-Parameter Bifurcation Problems
History of the Incas by Pedro Sarmiento de Gamboa
Linear Algebra: Theorems and Applications
Lectures on Stochastic Differential Equations and Malliavin Calculus
A Short Biographical Dictionary of English Literature
Lectures on Sieve Methods and Prime Number Theory
Dollars and Sense by William Crosbie Hunter
The Theory of the Theatre by Clayton Hamilton
The Mathematics of Investment
Occupiers of Wall Street: Losers or Game Changers
The Solution of the Pyramid Problem
Lectures on Moduli of Curves
Walden by Henry David Thoreau
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Control of Robot Manipulators in Joint Space
Posted on 2010-06-29
|
Title: Author: Rafael Kelly Publish date: June 2, 2010 Format: PDF Language: English Size: 3,6 MB ISBN-10: 1852339942 Description: Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text抯 four parts: robot dynamics and mathematical preliminaries; set-point model-based control; tracking model-based control; and adaptive and velocity-independent control A complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from the Springer website. Download:
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