Admin مدير المنتدى
عدد المساهمات : 18959 التقييم : 35383 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: كتاب Theory of Applied Robotics - Kinematics, Dynamics, and Control الخميس 17 أغسطس 2023, 2:30 am | |
|
أخواني في الله أحضرت لكم كتاب Theory of Applied Robotics - Kinematics, Dynamics, and Control Reza N. lazar DepartmentofMechanical Engineering Manhattan College Riverdale, NY
و المحتوى كما يلي :
Contents 1 Introduction 1 1.1 Historical Development 1 1.2 Components and Mechanisms of a Robotic System 2 1.2.1 Link . . . .. 3 1.2.2 Joint 3 1.2.3 Manipulator . 5 1.2.4 Wrist . . . . 5 1.2.5 End-effector . 6 1.2.6 Actuators 7 1.2.7 Sensors . .. 7 1.2.8 Controller .. 7 1.3 Robot Classifications . 7 1.3.1 Geometry . 8 1.3.2 Worksp ace 11 1.3.3 Actuation 12 1.3.4 Control 13 1.3.5 Application 13 1.4 Introduction to Robot's Kinematics, Dynamics, and Control 14 1.4.1 Triad 15 1.4.2 Unit Vectors 16 1.4.3 Reference Frame and Coordinate System 16 1.4.4 Vector Function . . . 19 1.5 Problems of Robot Dynamics . . . . . 19 1.6 Preview of Covered Topics . . . . . . . 21 1.7 Robots as Multi-disciplinary Machines 22 1.8 Summary 22 Exercises 25 I Kinematics 2 Rotation Kinematics 2.1 Rotation About Global Cartesian Axes . 2.2 Successive Rotation About Global Cartesian Axes 2.3 Global Roll-Pitch-Yaw Angles . 2.4 Rotation About Local Cartesian Axes . 2.5 Successive Rotation About Local Cartesian Axes 47xviii Contents 2.6 Euler Angles 48 2.7 Local Roll-Pitch-Yaw Angles 59 2.8 Local Axes Rotation Versus Global Axes Rotation 61 2.9 General Transformation . . . . . . 63 2.10 Active and Passive Transformation 71 2.11 Summary 73 Exercises 75 3 Orientation K inematics 81 3.1 Axis-angle Rotation 81 3.2 * Euler Parameters . . . . . . . . . . 88 3.3 * Determination of Euler Parameters 96 3.4 * Quaternions . . . . . . . . . . . . . 99 3.5 * Spinors and Rot ators . . . . . . . . 102 3.6 * Problems in Representing Rotations . 105 3.6.1 Rotation matrix 105 3.6.2 Angle-axis . . 106 3.6.3 Euler angles . . . 107 3.6.4 Quaternion . . . 109 3.6.5 Euler parameters 111 3.7 * Composition and Decomposition of Rotations 113 3.8 Summary 118 Exercises 119 4 Motion Kinematics 127 4.1 Rigid Body Motion . . . . . . . . . . . 127 4.2 Homogeneous Transformation . . . . . 131 4.3 Inverse Homogeneous Transformation 139 4.4 Compound Homogeneous Transformation 145 4.5 * Screw Coordinates 154 4.6 * Inverse Screw . . . . . . . . . . . 169 4.7 * Compound Screw Transformation 170 4.8 * The Plucker Line Coordinate . . . 173 4.9 * The Geometry of Plane and Line 180 4.9.1 * Moment . . . . . . 180 4.9.2 * Angle and Distance . . 181 4.9.3 * Plane and Line . . . . 181 4.10 * Screw and Plucker Coordinate 186 4.11 Summary 188 Exercises 191 5 Forward K inematics 199 5.1 Denavit-Hartenberg Notation . . . . . . . . . . . . . . . .. 199 5.2 Transformation Between Two Adjacent Coordinate Frames 208 5.3 Forward Position Kinematics of Robots 226Contents xix 5.4 * Coordinate Transformation Using Screws 242 5.5 * Sheth Method 247 5.6 Summary 253 Exercises 255 6 Inverse Kinematics 263 6.1 Decoupling Technique . . . . . . . 263 6.2 Inverse Transformation Technique 270 6.3 Iterat ive Technique . . . . . . . . . 282 6.4 * Comparison of the Inverse Kinematics Techniques 287 6.4.1 * Existence and Uniqueness of Solution . 287 6.4.2 * Inverse Kinemati cs Techniques. 288 6.5 * Singular Configuration 289 6.6 Summary 291 Exercises 293 7 Angular Velocity 297 7.1 Angular Velocity Vector and Matrix 297 7.2 Time Derivative and Coordinate Frames 310 7.3 Rigid Body Velocity . . . . . . . . . . . 320 7.4 Velocity Transformation Matrix. . . . . 325 7.5 Derivative of a Homogeneous Transformation Matrix 330 7.6 Summary 336 Exercises 339 8 Velocity Kinematics 343 8.1 Rigid Link Velocity . . . . . . . . . . . . . . . . . . . . 343 8.2 Forward Velocity Kinematic s and the Jacobian Matrix 346 8.3 Jacobian Generating Vectors 351 8.4 Inverse Velocity Kinematics 363 8.5 Summary 368 Exercises 371 9 Numerical Methods in Kinematics 375 9.1 Linear Algebraic Equations . . 375 9.2 Matrix Inversion . . . . . . . . . . 388 9.3 Nonlinear Algebraic Equations . . 395 9.4 * Jacobian Matrix From Link Transformation Matrices 402 9.5 * Kinematics Recursive Equations . . . . . . . . 410 9.5.1 * Recursive Velocity in Base Frame . . . 410 9.5.2 * Recursive Acceleration in Base Frame . 412 9.6 Summary 412 Exercises 413xx Contents II Dynamics 417 10 Acceleration Kinematics 421 10.1 Angular Acceleration Vector and Matrix 421 10.2 Rigid Body Acceleration . . . . . . . 429 10.3 Acceleration Transformation Matrix 432 10.4 Forward Acceleration Kinematics . 435 10.5 * Inverse Acceleration Kinematics 437 10.6 Summary 440 Exercises 443 11 Motion Dynamics 447 11.1 Force and Moment . . . . . . . . . 447 11.2 Rigid Body Translational Kinetics 453 11.3 Rigid Body Rotational Kinetics . . 455 11.4 Mass Moment of Inertia Matrix . . 466 11.5 Lagrange's Form of Newton 's Equations of Motion 478 11.6 Lagrangian Mechanics 487 11.7 Summary 492 Exercises 495 12 Robot Dynamics 505 12.1 Rigid Link Recursive Acceleration 505 12.2 Rigid Link Newton-Euler Dynamics 509 12.3 Recursive Newton-Euler Dynamics . 520 12.4 Robot Lagrange Dynamics . . . . . . 528 12.5 * Lagrange Equations and Link Transformation Matrices 534 12.6 Robot Statics 544 12.7 Summary 551 Exercises .. . .. 557 III Control 13 Path Planning 13.1 Joint Cubic Path . 13.2 Higher Polynomial Path . . . . 13.3 Non-Polynomial Path Planning 13.4 Manipulator Motion by Joint Path 13.5 Cartesian Pat h . 13.6 * Rotational Path . . . . . . . . . 13.7 Manipulator Motion by End-Effector Path . 13.8 Summary Exercises . 60114 * Time Optimal Control 14.1 * Minimum Time and Bang-Bang Contro l 14.2 * Floating Time Method . 14.3 * Time-Opt imal Contro l for Robots 14.4 Summary Exercises . 15 Control Techniques 15.1 Open and Closed-Loop Control 15.2 Computed Torque Contro l . . 15.3 Linear Control Technique . . 15.3.1 Proportional Contro l . 15.3.2 Integral Control . 15.3.3 Derivative Control . 15.4 Sensing and Control . . .. 15.4.1 Position Sensors.. 15.4.2 Speed Sensors. . . 15.4.3 Acceleration Sensors. . 15.5 Summary Exercises . References A Global Frame Triple Rotation B Local Frame Triple Rotation C Principal Central Screws Triple Combination D Trigonometric Formula Index Contents xxi Index 2R planar manipulat or cont rol, 652 DR transformation matrix, 212 dynamics, 491, 540 equations of motion, 494 forward acceleration, 439 ideal, 491 inverse acceleration, 441 inverse kinematics, 281, 286, 399 inverse velocity, 366, 368 Jacobian matrix, 350, 352 joint 2 acceleration, 433 joint path , 591 kinetic energy, 492 Lagrange dynamics , 533, 542 Lagrangean, 493 Newton-Euler dynamics, 516 potential energy, 493 recursive dynamics, 524 time-optimal control, 630 with massive links, 542 3R planar manipulato r DR transformation matrix, 204 forward kinematics, 227 4R planar manipulat or statics, 548 Acceleration angular, 423, 428, 429, 431, 432 bias vector, 440 body point , 317, 432, 434, 452 centripetal, 432 constant parabola, 593 constant path , 580 Coriolis, 454 discontinuous path, 588 discrete equation, 620, 631 end-effector, 429 forward kinematics, 437, 439 gravitational, 532, 538, 549 inverse kinematics, 439 jump, 573 matrix, 414, 423, 434-436 recursive, 507, 510 sensors, 659 tangential, 432 Active transformation, 72 Actuator, 7, 12 force and torque, 513, 529, 553 optimal torque, 632, 633 torque equation, 518, 630 Algorithm floating-time, 619, 629 inverse kinemati cs, 286 LV factorization, 380 LV solut ion, 380 Newton-Raphson, 398 Angle-axis rotation, 106 Angular accelerat ion, 423, 431, 432 combination, 428 end-effector, 429 in terms of Euler parameters, 429, 431 in terms of quaternion, 431 recursive, 414 Angular momentum 2 link manipulator, 462 Angular velocity, 53, 56, 57, 86, 299,306 alternative definition, 318 combination, 305 coordinate transformat ion, 308 decomposition, 305686 Index elements of matrix, 311 in terms of Euler parameters, 310 in terms of quaternion, 309 in terms of rotation matrix, 307 instantaneous, 301 instantaneous axis, 302 matrix, 300 principal matrix, 304 recursive, 412, 509 Articulated arm, 8, 231, 267, 357, 408 Atan2 function, 272 Automorphism, 102 Axis-angle rotation, 81, 84, 85, 90, 91, 94 Block diagram , 644 Brachisto chrone, 616, 627 Bryant angles, 58 Cardan angles, 58 frequencies, 58 Cartesian angular velocity, 56 end-effector position, 365 end-effector velocity, 366 manipulat or, 8, 11 path, 592 Central difference, 625 Chasles theorem, 154, 166 Christoffel operator, 488, 535 Co-state variable, 610 Control adapt ive, 649 admissible, 618 bang-bang , 609, 610 characteristic equation, 646 closed-loop, 643 command, 643 computed force, 651 computed torque, 648, 649 derivative, 655 desired path , 643 error, 643 feedback, 644 feedback command, 651 feedback linearization, 648, 651 feedforward command, 651 gain-scheduling, 649 input, 650 integral, 655 linear, 649, 654 minimum time, 609 modified PD , 657 open-loop, 643, 650 path points, 595 PD ,657 proportional, 654 robots, 13 sensing, 657 stability of linear, 646 time-opt imal, 618, 622, 629, 630, 633 time-opt imal description, 618 time-opt imal path , 627 Contro ller, 7 Coordinate cylindrical, 152 frame, 17 non-Cartesian , 487 non-orthogonal, 117 parabolic, 487 spherical, 153, 332 system, 17 Coriolis acceleration, 428, 434 effect, 454 force, 453 Cycloid, 617 Denavit-Hartenberg, 31 meth od, 199, 202, 248 nonstand ard method, 223, 283 notation, 199 parameters, 199, 334, 345, 510, 548transformation, 208, 212-21 8, 220, 222, 243 Differential manifold, 71 Differentiating, 312 B-derivative, 312, 314 G-derivative, 312, 317 second, 320 transformation formula, 317 Distal end, 199, 548 Dynamics , 421, 507 2R planar manipulator, 516, 524 4 bar linkage, 514 actuator's force and torque, 529 backward Newton-Euler, 522 forward Newton-Euler, 529 global Newton-Eul er, 511 Lagrange , 530 Newton-Euler, 511 one-link manipulator, 513 recursive Newton-Euler, 511, 522 Earth effect of rotation, 453 kinetic energy, 486 revolution, 486 rot ation , 486 rotation effect, 428 Eigenvalue, 87 Eigenvector , 87 Ellipsoid energy, 465 momentum, 464 End-effector , 6 acceleration, 437 angular acceleration , 429 angular velocity, 363 articulated robot, 267 configuration vector , 348, 405, 437 configuration velocity, 437 force, 530 frame, 207, 231 Index 687 inverse kinematics, 265 kinematics, 237 link, 199 orientation, 271, 364 path , 591, 600 position, 231 position kinematics, 226 position vector, 358 rotation, 597 SCARA position, 149 SCARA robot, 240 space station manipulator, 243 spherical robot, 247 time optimal control, 609 velocity, 348, 354, 365 velocity vector, 348 Energy Ear th kinetic, 486 kinetic rigid body, 461 kinetic rotational, 458 link's kinetic, 531, 537 link's potential, 532 mechanical, 486 point kinetic, 451 potential, 489 robot kinetic, 531, 538 robot potential, 532, 538 Euler -Lexell-Rodriguez formula, 83 angles, 18, 48, 51, 53, 107 integrability, 57 coordinate frame, 56 equation of motion , 457, 460, 461, 466, 467, 513, 523 frequencies, 53, 56, 306 inverse matrix, 69 parameters, 88- 92, 96-98 , 100, 111,309,310 rotation matrix, 51, 69 theorem, 48, 88 Euler equation body frame, 460, 467 Euler-Lagrange equat ion of motion , 614, 615 Eulerian688 Index viewpoint , 326 Floating time , 620 1 DOF algorithm, 619 analytic calculation, 627 backward path, 622 convergence, 625 forward path, 621 method,618 multi DOF algorithm, 629 multiple switching, 633 path planning, 627 robot control, 629 Force, 449 action, 512 actuator, 529 conservative, 489 Coriolis, 454 driven , 512 driving, 512 generalized , 483, 532 gravitational vector, 533 potential, 489 potential field, 485 reaction, 512 sensors, 660 shaking, 516 time varying, 454 Forward kinematics, 32 Frame central, 455 final, 207 goal, 207 principal, 457 reference, 16 special, 206 station, 206 tool, 207 world, 206 wrist, 207 Generalized coordinate, 480, 483,484, 490 force, 482,483,485,487,489, 491, 494, 530 inverse Jacobian, 403 Grassmanian, 177 Group properties, 70 Hamiltonian, 610 Hand , 231 Hayati-Roberts notation, 224 Helix, 154 Homogeneous compound transformation, 145 coordinate, 133, 138 direction, 138 general transformation, 139, 143 inverse transformation, 139, 141, 142, 146 position vector , 133 scale factor , 133 transformation, 131, 134-137, 139, 141 Integrability, 57 Inverse kinematics, 32, 265 decoupling technique, 265 inverse transformation technique,272 iterative technique, 284 Pieper technique, 274 Inverted pendulum, 652 Jacobian analytical, 365 elements, 363 generating vector, 353, 355, 404 geometrical, 365 inverse, 287, 403 matrix, 285, 287, 290, 292, 348, 352, 355, 357, 361, 365, 368, 397, 401, 404, 407, 408, 437, 439, 442, 534 oflink,531 polar manipulator, 349 Jerkangul ar , 430 matrix, 436 transformation, 435, 437 zero path, 579 Joint, 3 acceleration vector, 437 active, 4 coordinate, 4 cylindrical, 252 inactive, 4 orthogonal, 8 parallel, 8 passive , 4 path, 591 perp endicular , 8 screw, 4 variable vector, 348 velocity vector, 348, 355 Joint angle, 200 Joint distance, 200 Joint parameters, 202 Kinematic length, 200 Kinematics, 31 acceleration, 423 forward , 32, 226 forward acceleration, 437 forward velocity, 348 inverse, 32, 265, 272 inverse acceleration, 439 inverse velocity, 365 numerical methods, 377 velocity, 345 Kinetic energy, 451 Earth, 486 link, 537 parabolic coordinate, 487 rigid body, 461 robot, 531, 538 rotational body, 458 Kronecker's delta, 65, 457, 479 Lagrange dynamics, 530 equation, 536 Index 689 equation of motion, 480, 489 mechanics , 489 multiplier, 617 Lagrange equation explicit form, 488 Lagrangean , 489, 538 robot, 538 viewpoint, 326 Law motion , 450 motion second, 450, 455 motion third, 450 robotics, 1 Levi-Civita density, 96 Lie group, 71 Link, 3 angular velocity, 346 class 1 and 2, 213 class 11 and 12, 218 class 3 and 4, 214 class 5 and 6, 215 class 7 and 8, 216 class 9 and 10, 217 classification, 219 end-effector, 199 Euler equation, 523 kinetic energy, 531 Newton-Euler dynamics, 511 recursive acceleration, 507, 510 recursive Newton-Euler dynamics, 522 recursive velocity, 509, 510 rotational acceleration, 508 translational acceleration, 508 translational velocity, 347 velocity, 345 Link length, 200 Link offset , 200 Link parameters, 202 Link twist, 200 Location vector, 156, 158 LV factorization method, 377, 392 Manipulator 2R planar , 491, 533690 Index 3R planar , 227 articulat ed, 205 definition, 5 inertia matri x, 532 one-link, 490 one-link control, 655 one-link dynamics, 513 PUMA, 204 SCARA, 8 transformat ion matri x, 267 Mass center, 450, 451, 455 Matrix skew symmet ric, 68, 69, 82, 89 Moment , 449 action, 512 driven, 512 driving, 512 reaction, 512 Moment of inertia about a line, 479 ab out a plane, 479 about a point , 479 characteristic equation, 477 diagonal elements , 477 Huygens-Steiner theorem, 471 matri x, 468 parallel-axes theorem, 469 polar, 468 principal, 469 principal axes, 458 principal invariants, 477 product , 468 pseudo matrix, 469 rigid body, 457 rotated-axes theorem, 469 Moment of momentum, 450 Moment um, 450 angular, 450 ellipsoid, 464 linear, 450 Motion, 14 Newton equation of motion, 480 Newton equation body frame, 456 global frame, 455 Lagrange form, 482 rotatin g frame, 453 Newton-Euler backward equations, 522 equation of motion, 523 forward equations, 529 global equations, 511 recursive equations, 522 Numerical methods, 377 analytic inversion, 394 Cayley-Hamilton inversion, 395 condition number, 388 ill-conditioned, 388 Jacobian matrix, 404 LU factorization, 377 LU factorization with pivoting, 383 matrix inversion, 390 Newton-Ra phson, 398, 400 nonlinear equations, 397 norm of a matrix, 389 partition ing inversion, 393 uniqueness of solut ion, 387 well-conditioned, 388 Optim al control, 609 a linear syste m, 610 descript ion, 618 first variation, 615 Hamiltonian, 610, 613 Lagrange equation, 614 objective function, 609, 613 performance index, 613 second variation, 615 switching point , 611 Orthogonality condition, 64 Passive transformation, 72 Path Brachistochrone, 627 Cartesian, 592 constant acceleration, 580constant angular acceleration, 599 cont rol points, 595 cubic , 571 cycloid, 590 har monic, 589 higher polynomial, 578 jerk zero, 579 joint space, 591 non-polynomial, 589 planning, 592 point sequence, 582 quadratic, 577 quintic, 578 rest-to-rest, 573, 574 rotati onal, 597 splitting, 584 to- rest , 573 Pendulum cont rol, 652 inverted, 652, 657 linear contro l, 655 oscillat ing, 484 simple, 425, 483 spherical, 490 Permutation symbol, 96 Phase plane, 611 Pieper technique, 274 Plucker angle, 181 classification coord inate, 178 distance, 181 line coordinate, 173, 175- 177, 181, 185-187, 247, 248 moment , 180 ray coordinate, 175, 177 reciprocal produ ct , 181 screw , 186 virtual product , 181 Poinsot 's construction, 464 Point at infinity, 138 Pole, 163 Position sensors, 658 Positioning, 14 Potent ial Index 691 force, 489 Potential energy robot, 532, 538 Proximal end , 199, 548 Quaternions, 99 addition, 99 composition rotation, 102 flag form, 99 inverse rotation, 101 multiplication, 99 rotation, 100 Rigid body acceleration, 431, 508 angular momentum, 458 angular velocity, 86 Euler equation of motion, 461, 466 kinematics, 127 kinetic energy, 461 moment of inertia, 457 motion, 127 mot ion classification, 167 motion composition , 131 principal rotation matrix, 476 rotational kinetics, 457 steady rot ation, 462 translat ional kinetics, 455 velocity, 321, 323 Robot applicat ion, 13 articulated, 8, 231, 238, 267, 357, 361 Cartesian , 11 classification, 7 control, 13, 14 control algorithms, 648 cylindrical, 11, 259 dynamics, 14, 19, 507, 533 end-effector path, 600 equation of mot ion, 540 forward kinematics, 226, 246 gravitational vector , 533 inertia matrix, 532692 Index kinemati cs, 14 kinetic energy, 531, 538 Lagrange dynamics, 530, 536 Lagrange equation, 533 Lagrangean, 532, 536 link classification, 245 modified PD control, 657 Newton-Euler dynamics, 511 PD control, 657 potential energy, 532, 538 recursive Newton-Euler dynamics, 522 rest position , 200, 203, 231, 235, 239 SCARA , 149, 239 spherical, 10, 205, 235, 246, 274,355 state equat ion, 613 statics, 546 time-opt imal control, 613, 629 velocity coupling vector, 533 Robotic geometry, 8 history, 1 law, 1 Rodriguez rot ation formula, 83, 84, 89, 92- 95, 101, 106, 114, 128, 158, 161, 167, 172, 302, 337, 597 vector, 95, 113 Roll-pitch-yaw frequency, 60 global angles, 41, 59 global rotation matrix, 41, 59 Rotati on, 32, 83 about global axis, 33, 38, 40 about local axis, 43, 47, 48 angle-axis, 106 axis-angle, 81, 83-85, 90, 91, 94, 106 composition, 113 decomposition, 113 eigenvalue, 87 eigenvector, 87 exponential form, 93 general, 63 infinitesimal, 92 local versus global, 61 matr ix, 18, 105 pole, 326 quaternion, 100 stanley met hod, 98 X-matrix, 33 x-matrix, 43 Y-matrix, 33 y-mat rix, 43 Z-matrix, 33 z-matrix, 43 Rotational path , 597 Rotator, 83, 102 SCARA manipulator, 8 robot , 149, 239 Screw, 154, 157, 166 axis, 154 central, 155, 156, 159, 160, 173, 187, 202, 243, 245, 247 combination, 170, 172 coordinate, 154 decomposition, 172, 173 exponential, 171 forward kinematics, 243 instantaneous, 187 intersection, 248 inverse, 169, 170, 172 left-handed, 155 link classificati on, 245 location vector, 156 motion, 202, 327 parameters, 155, 164 pitch, 154 Plucker coordinate, 186 principal, 166, 172, 173 reverse central, 156 right-h anded, 15, 155 special case, 162 transformation, 158, 165twist, 154 Second derivative, 320 Sensor acceleration, 659 position, 658 rotary, 658 velocity, 659 Sheth not ation , 248 Singular configuration, 291 Spherical coordinate, 153 Spinor, 83, 102 Spline, 588 Stanley method, 98 Stark effect, 487 Symbols, xi Ti lt vector, 231 Time derivative, 312 Top, 53 Transformation , 31 active and passive, 71 general, 63 homogeneous, 131 Transformation matrix derivative, 332 differential, 336, 337 elements, 66 velocity, 327 Translati on, 32 Triad , 15 Trigonometric equation, 271 Turn vector , 231 Twist vector , 231 Unit system, xi Unit vectors, 16 Index 693 Vector gravitational force, 533 velocity coupling, 533 vector gravitational force, 537 velocity coupling, 536 Vector decomposition, 117 Velocity body point , 452 discrete equation, 620, 631 end-effector, 348 inverse tr ansformation, 330 matrix, 436 operator matrix, 333 prismatic transformat ion, 335 revolut e transformation, 335 sensors, 659 transformation matrix, 327, 329, 331, 333 Work, 451, 454 virtual, 483 Work-energy principle, 451 Workspace, 11 Wrench, 452 Wrist , 12-14, 231 decoupling kinematics, 266 forward kinematics, 229 frame, 207 kinematics assembly, 238 point , 6, 229, 271 position vector, 270 spherical, 6, 205, 231, 235, 361 transformation matrix 230 , , 267 Zero velocity point , 326
كلمة سر فك الضغط : books-world.net The Unzip Password : books-world.net أتمنى أن تستفيدوا من محتوى الموضوع وأن ينال إعجابكم رابط من موقع عالم الكتب لتنزيل كتاب Theory of Applied Robotics - Kinematics, Dynamics, and Control رابط مباشر لتنزيل كتاب Theory of Applied Robotics - Kinematics, Dynamics, and Control
|
|