Optimization for Robot Modelling with MATLAB
Ghafil, Hazim Nasir
Optimization for Robot Modelling with MATLAB by Hazim Nasir Ghafil, Károly Jármai. - First edition 2020. - 1 recurso en línea (XVI, 220 páginas) 251 ilustraciones, 166 ilustraciones a color - Intelligent Technologies and Robotics (Springer-42732) .
Chapter 1 - Introduction -- Chapter 2 - Optimization -- Chapter 3 - Spatial representations -- Chapter 4 - Manipulator kinematics -- Chapter 5 - The Manipulator Jacobian -- Chapter 6 - Path and trajectory planning -- Chapter 7 - Dynamics -- Chapter 8 - Structural optimization and stiffness analysis -- Chapter 9 - Kinematic Synthesis.
This book addresses optimization in robotics, in terms of both the configuration space and the metal structure of the robot arm itself; and discusses, describes and builds different types of heuristics and algorithms in MATLAB. In addition, the book includes a wealth of examples and exercises. In particular, it enables the reader to write a MATLAB code for all the related problems in robotics. The book also offers detailed descriptions of and builds from scratch several types of optimization algorithms using MATLAB and simplified methods, especially for inverse problems and avoiding singularities. Each chapter features examples and exercises to enhance the reader's comprehension. Accordingly, the book offers the reader a better understanding of robot analysis from an optimization standpoint.
9783030404109
10.1007/978-3-030-40410-9 doi
Robótica
Modelos matemáticos
TJ211 / 2020 EB
Optimization for Robot Modelling with MATLAB by Hazim Nasir Ghafil, Károly Jármai. - First edition 2020. - 1 recurso en línea (XVI, 220 páginas) 251 ilustraciones, 166 ilustraciones a color - Intelligent Technologies and Robotics (Springer-42732) .
Chapter 1 - Introduction -- Chapter 2 - Optimization -- Chapter 3 - Spatial representations -- Chapter 4 - Manipulator kinematics -- Chapter 5 - The Manipulator Jacobian -- Chapter 6 - Path and trajectory planning -- Chapter 7 - Dynamics -- Chapter 8 - Structural optimization and stiffness analysis -- Chapter 9 - Kinematic Synthesis.
This book addresses optimization in robotics, in terms of both the configuration space and the metal structure of the robot arm itself; and discusses, describes and builds different types of heuristics and algorithms in MATLAB. In addition, the book includes a wealth of examples and exercises. In particular, it enables the reader to write a MATLAB code for all the related problems in robotics. The book also offers detailed descriptions of and builds from scratch several types of optimization algorithms using MATLAB and simplified methods, especially for inverse problems and avoiding singularities. Each chapter features examples and exercises to enhance the reader's comprehension. Accordingly, the book offers the reader a better understanding of robot analysis from an optimization standpoint.
9783030404109
10.1007/978-3-030-40410-9 doi
Robótica
Modelos matemáticos
TJ211 / 2020 EB