000			02067nam a2200229Ia 4500
003			NULRC
005			20250520102834.0
008			250520s9999 xx 000 0 und d
020			_a9781848217980
040			_cNULRC
050			_aTJ 211 .J38 2015
100			_aJaulin, Luc, _eauthor
245		0	_aAutomation for robotics / _cLuc Jaulin
260			_aLondon, United Kingdom : _bISTE Ltd, _cc2015
300			_axii, 238 pages : _billustrations ; _c25 cm.
365			_bPHP3958.65
504			_aIncludes bibliographical references (pages 235-236) and index.
505			_aINTRODUCTION vii CHAPTER 1. MODELING 1 1.1. Linear systems 1 1.2. Mechanical systems 2 1.3. Servomotors 4 1.4. Exercises 4 1.5. Solutions 21 CHAPTER 2. SIMULATION 47 2.1. Concept of vector field 47 2.2. Graphical representation 49 2.2.1. Patterns 50 2.2.2. Rotation matrix 50 2.2.3. Homogeneous coordinates 52 2.3. Simulation 54 2.3.1. Euler s method 54 2.3.2. Runge Kutta method 55 2.3.3. Taylor s method 56 2.4. Exercises 56 2.5. Solutions 67 CHAPTER 3. LINEAR SYSTEMS 85 3.1. Stability 85 3.2. Laplace transform 87 3.2.1. Laplace variable 87 3.2.2. Transfer function 88 3.2.3. Laplace transform 88 3.2.4. Input output relation 90 3.3. Relationship between state and transfer representations 90 3.4. Exercises 92 3.5. Solutions 103 CHAPTER 4. LINEAR CONTROL 127 4.1. Controllability and observability 128 4.2. State feedback control 129 4.3. Output feedback control 130 4.4. Summary 133 4.5. Exercises 134 4.6. Solutions 150 CHAPTER 5. LINEARIZED CONTROL 185 5.1. Linearization 185 5.1.1. Linearization of a function 185 5.1.2. Linearization of a dynamic system 187 5.1.3. Linearization around an operating point 187 5.2. Stabilization of a nonlinear system 188 5.3. Exercises 191 5.4. Solutions 207 BIBLIOGRAPHY 235 INDEX 237
520			_aIn order to enable a better understanding of the key concepts of automation, this book develops the fundamental aspects of the field while also proposing numerous concrete exercises and their solutions.
650			_aROBOTICS
942			_2lcc _cBK
999			_c16651 _d16651