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Modellistica e controllo dei manipolatori by Corrado Guarino Lo Bianco

Modellistica e controllo dei manipolatori

by Corrado Guarino Lo Bianco
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Book cover type: Paperback
  • ISBN13: 9781312608764
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Lulu.com
  • Publisher Imprint: Lulu.com
  • Publication Date:
  • Pages: 336
  • Original Price: GBP 27.72
  • Language: Italian
  • Edition: N/A
  • Item Weight: 586 grams
  • BISAC Subject(s): Robotics

Il libro "Modellistica e controllo dei manipolatori industriali" mira a fornire la chiave di accesso al mondo della robotica. Per i suoi contenuti, è rivolto agli studenti di un modulo di base di "Robotica Industriale" da nove crediti dei Corsi di Laurea in Ingegneria Informatica, Elettronica e Meccanica. Pur essendo stato ideato come testo introduttivo, contiene una serie di spunti ed approfondimenti destinati a studenti di corsi più avanzati o a tecnici progettisti. Gli strumenti matematici proposti trovano applicazione anche in ambiti diversi da quello della robotica industriale e, pertanto, il testo può costituire un compendio anche per insegnamenti, quali "Grafica computazionale" o "Robotica mobile", nei quali risulti fondamentale valutare la disposizione di oggetti in ambienti bi o tridimensionali. Nella prima parte del libro vengono forniti gli strumenti necessari per caratterizzare i manipolatori robotici dal punto di vista matematico. Tali strumenti sono poi utilizzati per gestire le problematiche legate al posizionamento dell'utensile di lavoro, definendo e risolvendo i cosiddetti problemi di cinematica diretta ed inversa. Un ampio spazio è dedicato anche al problema dell'analisi del moto, ovvero alla cosiddetta cinematica differenziale, la cui soluzione permette di esprimere in forma analitica le velocità lineari ed angolari dell'organo utensile. La trattazione prosegue con lo studio della statica e della dinamica, grazie al quale è possibile stabilire quale relazione esista tra le sollecitazioni esterne agenti sui manipolatori e la loro risposta temporale. Gli ultimi argomenti affrontati riguardano la pianificazione delle traiettorie e l'analisi dei principali approcci di controllo: sono presi in considerazione tanto i sistemi per controllo del moto libero, che quelli per la gestione dell'interazione tra il manipolatore e l'ambiente.

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