Series in Robotics and Automated Systems - Vol. 8
MODELLING AND SIMULATION OF ROBOT MANIPULATORS
A Parallel Processing Approach
by Albert Y Zomaya (The University of Western Australia)
This book aims to describe how parallel computer architectures can be used to enhance the performance of robots, and their great impact on future generations of robots. It provides an in-depth, consistent and rigorous treatment of the topic. A clear definition of tools with results is given which can be applied to parallel processing for robot kinematics and dynamics. Another advantageous feature is that the algorithms presented have been implemented using a parallel processing system, unlike many publications in the field which have presented results in only theoretical terms. This book also includes "benchmark" results that can be used for the development of future work, or can serve as a basis for comparison with other work. In addition, it surveys useful material to aid readers in pursuing further research.
Contents:
- Introduction
- The Parallel Processing Approach
- Robot
Kinematics
- Computing the Jacobian
- Inverse Jacobian Computation
- Robot Dynamics
- Parallel Computations of Robot Dynamics
- Tuning of Robot Dynamics
- Concluding Remarks
- Appendix A
- Appendix B
- Appendix C
- Appendix D
Readership: Engineers and computer scientists.
"... this book is a useful contribution to work in the area ... This is a highly technical, mathematically oriented book addressing a specialised interest area. Its strength lie in its bringing together a diversity of recent research work and putting this work in a contextual framework. An excellent feature of the book is its comprehensive, up-to-date references ... The book finally comes across as a useful, if somewhat confusing to read, summary of recent work and knowledge in a highly specialised technical interest area."
Jonathan O'Brien
Newsletter of the Australian Robot Association, 1994 |
| 312pp |
Pub. date: Jan 1993 |
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