English

{{sellerTotalView > 1 ? __("sellers", {number: sellerTotalView}) : __("seller", {number: sellerTotalView}) }}, {{numTotalView > 1 ? __("items", {number: numTotalView}) : __("item", {number: numTotalView}) }}

View Cart & Check Out

Nickname

Let us know how to properly address you.

Update Your Name

xxxxxxx@yamibuy.com

Account Orders Favorites

Points 0

Coupons 0

Gift Card Balance $0.00

Sign Out

Change Your Zip Code

Inventory information and delivery speeds may vary for different locations.

Location History

We will notify you by email when the item back in stock.

Your email: {{remindEmail}}

Cancel

Jingdong book

机器人学基础第2版

View Cart & Check Out

{{buttonTypePin == 3 ? __("Scan to view more PinGo") : __("Scan to start")}}

Books Computers & Internet Artificial Intelligence

Jingdong book

机器人学基础第2版

Name: 机器人学基础 第2版
Brand: Jingdong book
SKU: 3118092441
Price: 31.01 USD
Availability: OutOfStock

{{__(":people-members", {'people': item.limit_people_count})}} {{ itemCurrency }}{{ item.valid_price }} {{ itemCurrency }}{{ item.invalid_price }} {{ itemDiscount }}

Ends in

{{ itemCurrency }}{{ priceFormat(item.valid_price / item.bundle_specification) }}/{{ item.unit }}

{{ itemCurrency }}{{ item.valid_price }} {{ itemCurrency }}{{ priceFormat(item.valid_price / item.bundle_specification) }}/{{ item.unit }} {{ itemCurrency }}{{ item.invalid_price }} {{itemDiscount}}

Sale ends in

Sale will starts after Sale ends in

{{ __( "Pay with Gift Card to get sale price: :itemCurrency:price", { 'itemCurrency' : itemCurrency, 'price' : (item.giftcard_price ? priceFormat(item.giftcard_price) : '0.00') } ) }} ({{ itemCurrency }}{{ priceFormat(item.giftcard_price / item.bundle_specification) }}/{{ item.unit }}) Details

Best before

Currently unavailable.

We don't know when or if this item will be back in stock.

Unavailable in your area.

Sold Out

Details

Full product details

Content Description

本书是一部比较系统和全面的机器人学导论性著作，主要介绍机器人学的基本原理及其应用，反映出国内外机器人学研究和应用的最新进展。全书共10章，主要内容包括机器人学的起源与发展、机器人学的数理基础、机器人运动学的表示与求解、机器人动力学方程、机器人的控制原则和控制方法、机器人传感器、机器人轨迹规划、机器人程序设计、机器人的应用和展望等。本书特别适合作为高校本科生的机器人学教材，也适合从事机器人学研究、开发和应用的科技人员参考。

Catalogue

CONTENTS
目录
代序
前言
第1章绪论1
1.1机器人学的发展1
1.1.1机器人的由来1
1.1.2机器人的定义2
1.1.3机器人学的进展2
1.2机器人的特点、结构与分类4
1.2.1机器人的主要特点4
1.2.2机器人系统的结构4
1.2.3机器人的自由度5
1.2.4机器人的分类6
1.3机器人学与人工智能9
1.3.1机器人学与人工智能的关系10
1.3.2机器人学的研究领域11
1.3.3智能机器人11
1.4本书概要12
1.5本章小结13
习题14
第2章数理基础15
2.1位置和姿态的表示15
2.1.1位置描述15
2.1.2方位描述15
2.1.3位姿描述16
2.2坐标变换17
2.2.1平移坐标变换17
2.2.2旋转坐标变换17
2.3齐次坐标变换18
2.3.1齐次变换18
2.3.2平移齐次坐标变换20
2.3.3旋转齐次坐标变换21
2.4物体的变换及逆变换22
2.4.1物体位置描述22
2.4.2齐次变换的逆变换23
2.4.3变换方程初步25
2.5通用旋转变换26
2.5.1通用旋转变换公式26
2.5.2等效转角与转轴27
2.6本章小结28
习题29
第3章机器人运动学31
3.1机器人运动方程的表示31
3.1.1运动姿态和方向角32
3.1.2运动位置和坐标34
3.1.3连杆变换矩阵及其乘积35
3.2机械手运动方程的求解38
3.2.1欧拉变换解38
3.2.2滚、仰、偏变换解41
3.2.3球面变换解42
3.3PUMA 560机器人运动方程43
3.3.1PUMA 560运动分析43
3.3.2PUMA 560运动综合47
3.4本章小结50
习题50
第4章机器人动力学55
4.1刚体动力学55
4.1.1刚体的动能与位能56
4.1.2动力学方程的两种求法58
4.2机械手动力学方程62
4.2.1速度的计算63
4.2.2动能和位能的计算64
4.2.3动力学方程的推导67
4.3本章小结68
习题69
第5章机器人控制71
5.1机器人的基本控制原则71
5.1.1基本控制原则71
5.1.2伺服控制系统举例74
5.2机器人的位置控制76
5.2.1直流传动系统的建模76
5.2.2位置控制的基本结构79
5.2.3单关节位置控制器81
5.2.4多关节位置控制器88
5.3机器人的力和位置混合控制90
5.3.1力和位置混合控制方案90
5.3.2力和位置混合控制系统控制规律的综合92
5.4机器人的智能控制96
5.4.1智能控制系统的分类97
5.4.2机器人自适应模糊控制102
5.4.3多指灵巧手的神经控制105
5.5本章小结108
习题109
第6章机器人传感器112
6.1机器人传感器概述112
6.1.1机器人传感器的特点与分类112
6.1.2应用传感器时应考虑的问题114
6.2内传感器115
6.2.1位移位置传感器115
6.2.2速度和加速度传感器119
6.2.3力觉传感器120
6.3外传感器123
6.3.1触觉传感器123
6.3.2应力传感器126
6.3.3接近度传感器127
6.3.4其他外传感器129
6.4机器人视觉装置130
6.4.1机器人眼130
6.4.2视频信号数字变换器132
6.4.3固态视觉装置133
6.4.4激光雷达136
6.5本章小结137
习题137
第7章机器人轨迹规划139
7.1轨迹规划应考虑的问题139
7.2关节轨迹的插值计算140
7.2.1三次多项式插值141
7.2.2过路径点的三次多项式插值142
7.2.3高阶多项式插值143
7.2.4用抛物线过渡的线性插值144
7.2.5过路径点用抛物线过渡的线性插值145
7.3笛卡儿路径轨迹规划146
7.4规划轨迹的实时生成152
7.5本章小结154
习题155
第8章机器人编程157
8.1机器人编程要求与语言类型157
8.1.1对机器人编程的要求157
8.1.2机器人编程语言的类型158
8.2机器人语言系统结构和基本功能160
8.2.1机器人语言系统的结构160
8.2.2机器人编程语言的基本功能160
8.3常用的机器人编程语言162
8.3.1VAL语言163
8.3.2SIGLA语言163
8.3.3IML语言164
8.3.4AL语言164
8.4机器人的离线编程165
8.4.1机器人离线编程的特点和主要内容165
8.4.2机器人离线编程系统的结构167
8.5基于MATLAB的机器人学仿真170
8.5.1坐标变换170
8.5.2构建机器人对象171
8.5.3机器人运动学求解173
8.5.4轨迹规划174
8.6本章小结175
习题176
第9章机器人应用178
9.1应用工业机器人必须考虑的因素178
9.1.1机器人的任务估计178
9.1.2应用机器人三要素179
9.1.3使用机器人的经验准则179
9.1.4采用机器人的步骤180
9.2机器人的应用领域181
9.2.1工业机器人181
9.2.2探索机器人183
9.2.3服务机器人184
9.2.4军事机器人186
9.3工业机器人应用举例187
9.3.1材料搬运机器人187
9.3.2焊接机器人188
9.3.3喷漆机器人190
9.4本章小结192
习题193
第10章机器人学展望194
10.1机器人技术和市场的现状194
10.1.1世界机器人发展现状194
10.1.2国内机器人发展现状196
10.2机器人技术的发展趋势198
10.3各国雄心勃勃的机器人发展计划200
10.4应用机器人引起的社会问题201
10.5本章小结203
习题204
参考文献205

Introduction

机器人学作为一门高度交叉的前沿学科，引起许多具有不同专业背景人们的广泛兴趣，并对其进行深入研究，使其获得了快速发展。自第一台电子编程工业机器人问世50多年来，机器人学已取得令人瞩目的成就。
本书介绍机器人学的基本原理及其应用，是一部比较系统和全面的机器人学导论性著作。全书共10章。第1章简述机器人学的起源与发展，讨论机器人的定义，分析机器人的特点、结构与分类，探讨机器人学与人工智能的关系和机器人学的研究领域。第2章讨论机器人学的数理基础，包括空间任意点的位置和姿态变换、坐标变换、齐次坐标变换、物体的变换和逆变换，以及通用旋转变换等。第3章阐述机器人运动方程的表示与求解，包括机械手运动姿态、方向角、运动位置和坐标的运动方程以及连杆变换矩阵的表示，欧拉变换、滚仰偏变换和球面变换等求解方法等。第4章涉及机器人动力学方程，着重分析机械手动力学方程的两种求法，即拉格朗日功能平衡法和牛顿欧拉动态平衡法，然后总结出建立拉格朗日方程的步骤。第5章研究机器人的控制原则和控制方法，包括机器人的位置控制、力和位置混合控制、智能控制等。第6章介绍机器人传感器的特点与分类、各种典型的机器人内传感器和外传感器的工作原理。第7章讨论机器人轨迹规划问题，着重研究关节空间和笛卡儿空间中机器人运动的轨迹规划和轨迹生成方法。第8章概括地论述机器人的程序设计，研究对机器人编程的要求和分类、机器人语言系统的结构和基本功能、几种重要的专用机器人语言、机器人的离线编程，以及基于MATLAB的机器人学仿真等。第9章探讨机器人的应用问题，论述应用机器人必须考虑的因素和采用机器人的步骤，分析机器人的应用领域，介绍工业机器人的应用实例。第10章分析机器人学的现状，展望机器人学的未来，包括国内外机器人技术和市场的发展现状和预测、机器人技术的发展趋势等。
本书适合作为本科生教材，也适合从事机器人学研究、开发和应用的科技人员学习参考。
本书第1版由蔡自兴编著，第2版除蔡自兴外，谢斌参与了3.1节、3.2节和8.5节的修订工作，江南大学李挺也参与了3.1节的修订工作。在本书编写和出版过程中，得到众多领导、专家、教授、朋友和学生的热情鼓励和帮助。中国工程院宋健院士在IFAC大会开幕式上所做主题报告摘录，作为本书代序，是对本书作者和广大读者的极大支持和厚爱。在此特向有关领导、专家、合作者和广大读者致以衷心的感谢，此外，还要特别感谢部分国内外机器人学专著、教材和有关论文的作者们。
由于本书编写时间仓促，书中一定有不足之处，希望得到各位专家和广大读者的批评指正。
蔡自兴2015年1月26日于中南大学民主楼

Specifications

Brand

Jingdong book

Brand Origin

China

Disclaimer

Product packaging, specifications and price are subject to change without notice. All information about the products on our website is provided for information purposes only. Please always read labels, warnings and directions provided with the product before use.

View Full Terms of Use

Scan to Share

Add to favorites

{{ $isZh ? coupon.coupon_name_sub : coupon.coupon_ename_sub | formatCurrency }}

Clip coupons

Quantity

{{buttonTypePin == 3 ? __("Scan to view more PinGo") : __("Scan to start")}}

Sold by JD@CHINA

Ship to

Free shipping over 69

Genuine guarantee

View details

Region

Added to Cart

Keep Shopping

More to Consider

Coupons

Clip Clipped Over

Expires soon {{ formatTime(coupon.use_end_time) }}

Share this item with friends

Cancel

Yami Gift Card

Get this exclusive deal when paying with gift card

Terms and Conditions

Gift card deals are special offers for selected products;

The gift card deals will automatically be activated if a customer uses gift card balance at check out and the balance is sufficient to pay for the total price of the shopping cart products with gift card deals;

You will not be able to activate the gift card deals if you choose other payment methods besides gift card. The products will be purchased at their normal prices;

If your account balance is not enough to pay for the products with gift card deals, you can choose to reload your gift card balance by clicking on the Reload button at either shopping cart page or check out page;

Products that have gift card deals can be recognized by a special symbol showing 'GC Deal';

For any additional questions or concerns, please contact our customer service;

Yamibuy reserves the right of final interpretation.

Sold by Yami

Service Guarantee

Free Shipping over $49

Easy Returns

Ships from United States

Shipping

United States

Standard Shipping is $5.99 (Excluding Alaska & Hawaii). Free on orders of $49 or more.

Local Express is $5.99 (Available in Parts of CA, NJ, MA & PA). Free on orders of $49 or more.

2-Day Express (Includes Alaska & Hawaii) starts at $19.99.

Return Policy

Yami is committed to provide our customers with a peace of mind when purchasing from us. Most items shipped from Yamibuy.com can be returned within 30 days of receipt of shipment (For Food, Beverages, Snacks, Dry Goods, Health supplements, Fresh Grocery and Perishables Goods, within 7 days of receipt of shipment due to damages or quality issues; To ensure that every customer receives safe and high-quality products, we do not provide refunds or returns for beauty products once they have been opened or used, except in the case of quality issues; Some products may have different policies or requirements associated with them, please see below for products under special categories, or contact Yami Customer Service for further assistance).
Thank you for your understanding and support.

Learn More

Sold by Yami

Terms and Conditions of Yami E-Gift Card

If you choose “Redeem automatically” as your delivery method, your gift card balance will be reload automatically after your order has been processed successfully;

If you choose “Send to Email”as your delivery method, the card number and CVV will be sent to the email address automatically;

Any user can use the card number and CVV to redeem the gift card, please keep your gift card information safely. If you have any trouble receiving email, please contact Yami customer service;

Yami gift card can be used to purchase both Yami owned or Marketplace products;

Yami gift card will never expire;

Yami gift card balance does not have to be used up at once;

Return Policy

Gift card that has already been consumed is non-refundable.

Sold by JD@CHINA

Fulfilled by Yami

Service Guarantee

Free Shipping over $49

Easy Returns

Ships from United States

Shipping

United States

Standard Shipping is $5.99 (Excluding Alaska & Hawaii). Free on orders of $49 or more.

Local Express is $5.99 (Available in Parts of CA, NJ, MA & PA). Free on orders of $49 or more.

2-Day Express (Includes Alaska & Hawaii) starts at $19.99.

Return Policy

You may return product within 30 days upon receiving the product. Items returned must be new in it's original packing, including the original invoice for the purchase. Customer return product at their own expense.

Sold by JD@CHINA

Yami-China FC

Service Guarantee

Cross-store Free Shipping over $69

30-days Return

Yami-China FC

Yami has a consolidation warehouse in China which collects multiple sellers’ packages and combines to one order. Our Yami consolidation warehouse will directly ship the packages to your door. Cross-store free shipping over $69.

Return Policy

You may return products within 30 days upon receiving the products. Sellers take responsibilities for any wrong shipment or missing items. Packing needs to be unopened for any other than quality issues return. We promise to pack carefully, but because goods are taking long journey to destinations, simple damages to packaging may occur. Any damages not causing internal goods quality problems are not allowed to return. If you open the package and any quality problem is found, please contact customer service within three days after receipt of goods.

Shipping Information

Yami Consolidation Service Shipping Fee $9.99(Free shipping over $69)

Sellers in China will ship their orders within 1-2 business days once the order is placed. Packages are sent to our consolidation warehouse in China and combined there. Our Yami consolidation warehouse will directly ship the packages to you via UPS. The average time for UPS to ship from China to the United States is about 10 working days and it can be traced using the tracking number. Due to the pandemic, the delivery time may be delayed by about 5 days. The package needs to be signed by the guest. If the receipt is not signed, the customer shall bear the risk of loss of the package.

Sold by JD@CHINA

Service Guarantee

Free shipping over 69

Genuine guarantee

Shipping

Yami Consolidated Shipping $9.99(Free shipping over $69)

Seller will ship the orders within 1-2 business days. The logistics time limit is expected to be 7-15 working days. In case of customs clearance, the delivery time will be extended by 3-7 days. The final receipt date is subject to the information of the postal company.

Yami Points information

All items are excluding from any promotion or points events on Yamibuy.com

Return Policy

Download the Yami App

Feedback

Back Top

Reviews{{'('+ commentList.posts_count + ')'}}

Have your say. Be the first to help other guests.

Write a review

{{i}} star

{{i}} stars

{{ parseInt(commentRatingList[i]) }}%

{{ showTranslate(comment) }}Show Less

{{ strLimit(comment,800) }}Show more

Show Original

Show All

{{ formatTime(comment.in_dtm) }} VERIFIED PURCHASE {{groupData}}

{{ comment.likes_count }} {{ comment.likes_count }} {{ comment.reply_count }} {{comment.in_user==uid ? __('Delete') : __('Report')}}

{{ showTranslate(comment) }}Show Less

{{ strLimit(comment,800) }}Show more

Show Original

Show All

{{ formatTime(comment.in_dtm) }} VERIFIED PURCHASE {{groupData}}

{{ comment.likes_count }} {{ comment.likes_count }} {{ comment.reply_count }} {{comment.in_user==uid ? __('Delete') : __('Report')}}

No related comment~

Load more reviews

Review

{{ showTranslate(commentDetails) }}Show Less

{{ strLimit(commentDetails,800) }}Show more

Show Original

Show All

{{ formatTime(commentDetails.in_dtm) }} VERIFIED PURCHASE {{groupData}}

Please write at least one word

Comments{{'(' + replyList.length + ')'}}

Change Your Zip Code

Location History

机器人学基础 第2版

机器人学基础第2版