Trajectory Planning for Automatic Machines and Robots

Authors: Biagiotti, Luigi, Melchiorri, Claudio

  • - 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.
see more benefits

Buy this book

eBook $139.00
price for USA (gross)
valid through November 5, 2017
  • ISBN 978-3-540-85629-0
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-540-85628-3
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $179.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-642-09923-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

This book deals with the problems related to planning motion laws and trajectories 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 effects such as vibrations or even damages on the mechanical 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 “electronic 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 efforts 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 different techniques available for trajectory planning, besides the mathematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under different points of view, and general considerations related to their practical use are reported.

Reviews

From the reviews:

“This book is intended for engineers and technicians in the fields of automatic machines and robotics as well as for developers of applications for multiaxis machines and robot cells.” (IEEE Control Systems Magazine, Vol. 30, February, 2010)


Table of contents (13 chapters)

  • Trajectory Planning

    Biagiotti, Luigi (et al.)

    Pages 1-12

  • Analytic Expressions of Elementary Trajectories

    Biagiotti, Luigi (et al.)

    Pages 15-57

  • Composition of Elementary Trajectories

    Biagiotti, Luigi (et al.)

    Pages 59-150

  • Multipoint Trajectories

    Biagiotti, Luigi (et al.)

    Pages 151-219

  • Operations on Trajectories

    Biagiotti, Luigi (et al.)

    Pages 223-244

Buy this book

eBook $139.00
price for USA (gross)
valid through November 5, 2017
  • ISBN 978-3-540-85629-0
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-540-85628-3
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $179.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-642-09923-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Loading...

Recommended for you

Loading...

Bibliographic Information

Bibliographic Information
Book Title
Trajectory Planning for Automatic Machines and Robots
Authors
Copyright
2008
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-85629-0
DOI
10.1007/978-3-540-85629-0
Hardcover ISBN
978-3-540-85628-3
Softcover ISBN
978-3-642-09923-6
Edition Number
1
Number of Pages
XIV, 514
Number of Illustrations and Tables
326 b/w illustrations
Topics