Trajectory Planning for Automatic Machines...

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Sprache: Englisch

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Beschreibung

This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of ¿el- tronic cams¿ has replaced, in the design of automatic machines, the classical approach based on ¿mechanical cams¿. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.

Zusammenfassung

complete presentation of trajectory planning and motion law generation for automatic machines and robots

suitable for university classes on robotics and on control systems technologies as well as engineers in robotics and automation

accompanied by a Matlab toolbox, for quickly understanding the problems of planning and starting work with trajectories.

Includes supplementary material: [...]

Inhaltsverzeichnis

Basic Motion Profiles.- Analytic Expressions of Elementary Trajectories.- Composition of Elementary Trajectories.- Multipoint Trajectories.- Elaboration and Analysis of Trajectories.- Operations on Trajectories.- Trajectories and Actuators.- Dynamic Analysis of Trajectories.- Trajectories in the Operational Space.- Multidimensional Trajectories and Geometric Path Planning.- From Geometric Paths to Trajectories.- Appendices.- A Numerical Issues.- B B-spline, Nurbs and Bézier curves.- C Representation of the Orientation.- D Spectral Analysis and Fourier Transform.- Trajectory Planning.- Trajectory Planning.

Erscheinungsjahr:	2008
Fachbereich:	Fertigungstechnik
Genre:	Mathematik , Medizin , Naturwissenschaften , Technik
Rubrik:	Naturwissenschaften & Technik
Medium:	Buch
Inhalt:	xiv 514 S. 326 s/w Illustr. 514 p. 326 illus.
ISBN-13:	9783540856283
ISBN-10:	3540856285
Sprache:	Englisch
Herstellernummer:	11928287
Einband:	Gebunden
Autor:	Melchiorri, Claudio Biagiotti, Luigi
Hersteller:	Springer Berlin Springer Berlin Heidelberg
Verantwortliche Person für die EU:	Springer Verlag GmbH, Tiergartenstr. 17, D-69121 Heidelberg, juergen.hartmann@springer.com
Maße:	241 x 160 x 34 mm
Von/Mit:	Claudio Melchiorri (u. a.)
Erscheinungsdatum:	03.11.2008
Gewicht:	0,957 kg

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