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Trajectory Planning for Automatic Machines and Robots (Hardcover, 2008 ed.)
Loot Price: R6,628
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Trajectory Planning for Automatic Machines and Robots (Hardcover, 2008 ed.)
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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.
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