Introduction to Robotics: Analysis, Control, ApplicationsNow in its second edition, Introduction to Robotics is intended for senior and introductory graduate courses in robotics. Designed to meet the needs of different readers, this book covers a fair amount of mechanics and kinematics, including manipulator kinematics, differential motions, robot dynamics, and trajectory planning. It also covers microprocessor applications, control systems, vision systems, sensors, and actuators, making the book useful to mechanical engineers, electronic and electrical engineers, computer engineers and engineering technologists. A chapter on controls presents enough material to make the understanding of robotic controls and design accessible to those who have yet to take a course in control systems. |
Contents
Chapter | 1 |
Appendix | 18 |
Fundamentals 1 | 1 |
Chapter 2 | 2 |
Position Analysis 33 | 33 |
References 102 | 102 |
Differential Motions | 114 |
Problems 143 | 143 |
Sensors | 319 |
Sensors 319 | 319 |
Summary 348 | 348 |
Analysis with Vision Systems 350 | 350 |
References 414 | 414 |
Fuzzy Logic Control | 423 |
Chapter 10 | 424 |
Fuzzy Logic Control 423 | 423 |
Dynamic Analysis | 147 |
Contents | 175 |
Chapter 5 | 178 |
Trajectory Planning 178 | 178 |
References 201 | 201 |
Chapter 6 | 203 |
Systems 203 | 203 |
Controllers 241 | 241 |
References 263 | 263 |
Actuators and Drive | 266 |
Appendix A Review of Matrix Algebra | 443 |
xii | 447 |
Appendix | 449 |
Appendix B Image Acquisition | 449 |
Appendix B Image Acquisition | 450 |
Root Locus and Bode | 454 |
Appendix C | 457 |
Simulation of Robots | 457 |
Simulation of Robots | 458 |
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Introduction to Robotics: Analysis, Control, Applications Saeed Benjamin Niku No preview available - 2011 |
Common terms and phrases
acceleration actuators Analysis angle applications assume axes calculate called Chapter coil common connected consider continue coordinates corresponding create derive desired determine develop devices differential motions direction discussed edge effect elements equations Example Find first force frequency function fuzzy given gray hand increases input inverse joint kinematic levels light linear load matrix means measured mechanism motor move necessary noise object operation orientation original output pixel position possible Problem range reduce reference frame relative representation representing require response result robot root rotation rotor sampled segment sensors shown in Figure shows signal similar simple Solution speed step stepper motor Table techniques torque trajectory transformation turn values variables vector velocity Vision Systems voltage zero