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Introduction to Robotics : Analysis, Systems, Applications

ISBN: 9780130613097 | 0130613096
Edition: 1st
Format: Paperback
Publisher: Prentice Hall
Pub. Date: 1/1/2002

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SummaryTable of Contents
For one-semester, senior-level undergraduate/first-year graduate courses in Robotics.This text serves as an introduction to robotics analysis: the systems and sub-systems that constitute robots and robotic systems, and robotics applications. As such, it covers all the fundamentals, including kinematics, kinetics and force control, and trajectory planning of robots; it covers sub-systems such as actuators, sensors, and vision systems; and it covers robotics applications. Introduction to Robotics also includes topics related to mechatronics, micr... MORE
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Fundamentals
1(28)
Introduction
1(1)
What is a Robot?
2(1)
Classification of Robots
2(2)
What is Robotics?
4(1)
History of Robotics
4(1)
Advantages and Disadvantages of Robots
5(1)
Robot Components
6(2)
Robot Degrees of Freedom
8(3)
Robot Joints
11(1)
Robot Coordinates
11(1)
Robot Reference Frames
12(1)
Programming Modes
13(2)
Robot Characteristics
15(1)
Robot Workspace
16(1)
Robot Languages
16(4)
Robot Applications
20(4)
Other Robots and Applications
24(1)
Social Issues
25(1)
Summary
25(4)
References
26(1)
Problems
27(2)
Robot Kinematics: Position Analysis
29(66)
Introduction
29(1)
Robots as Mechanisms
29(2)
Matrix Representation
31(7)
Representation of a point in space
31(1)
Representation of a vector in space
32(1)
Representation of a frame at the origin of a reference frame
33(1)
Representation of a frame in a reference frame
34(1)
Representation of a Rigid Body
35(3)
Homogeneous Transformation Matrices
38(1)
Representation of Transformations
38(10)
Representation of a pure translation
39(1)
Representation of a pure rotation about an axis
40(3)
Representation of combined transformations
43(3)
Transformations relative to the rotating
46(2)
Inverse of Transformation Matrices
48(5)
Forward and Inverse Kinematics of Robots
53(14)
Forward and Inverse Kinematic Equations for Position
54(5)
Forward and Inverse Kinematic Equations for Orientation
59(8)
Forward and Inverse Kinematic Equations for Position and Orientation
67(1)
Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots
67(9)
The Inverse Kinematic Solution of Robots
76(4)
Inverse Kinematic Programming of Robots
80(2)
Degeneracy and Dexterity
82(1)
The Fundamental Problem with the Denavit-Hartenberg Representation
83(2)
Design Project 1: A Three-degree-of-freedom Robot
85(1)
Summary
86(9)
References
87(1)
Problems
88(7)
Differential Motions and Velocities
95(24)
Introduction
95(1)
Differential Relationships
95(2)
Jacobian
97(2)
Differential Motions of a Frame
99(5)
Differential Translations
100(1)
Differential Rotations
100(1)
Differential Rotation about a general axis k
101(1)
Differential Transformations of a Frame
102(2)
Interpretation of the Differential Change
104(1)
Differential Changes Between Frames
104(2)
Differential Motions of a Robot and Its Hand Frame
106(1)
Calculation of the Jacobian
107(3)
How to Relate the Jacobian and the Differential Operator
110(1)
Inverse Jacobian
111(4)
Design Project
115(1)
Summary
116(3)
References
116(1)
Problems
117(2)
Dynamic Analysis and Forces
119(28)
Introduction
119(1)
Lagrangian Mechanics: A Short Overview
120(7)
Effective Moments of Inertia
127(1)
Dynamic Equations for Multiple-Degree-of-Freedom Robots
128(11)
Kinetic Energy
128(4)
Potential Energy
132(1)
The Lagrangian
133(1)
Robot's Equations of Motion
133(6)
Static Force Analysis of Robots
139(2)
Transformation of Forces and Moments Between Coordinate Frames
141(2)
Design Project
143(1)
Summary
143(4)
References
144(1)
Problems
144(3)
Trajectory Planning
147(26)
Introduction
147(1)
Path vs. Trajectory
147(1)
Joint-Space vs. Cartesian-Space Descriptions
148(2)
Basics of Trajectory Planning
150(3)
Joint-Space Trajectory Planning
153(12)
Third-Order Polynomial Trajectory Planning
154(3)
Fifth-Order Polynomial Trajectory Planning
157(1)
Linear Segments with Parabolic Blends
157(3)
Linear Segments with Parabolic Blends and Via Points
160(1)
Higher Order Trajectories
161(4)
Other Trajectories
165(1)
Cartesian-Space Trajectories
165(5)
Continuous Trajectory Recording
170(1)
Design Project
170(1)
Summary
171(2)
References
171(1)
Problems
172(1)
Actuators
173(46)
Introduction
173(1)
Characteristics of Actuating Systems
174(4)
Weight, Power-to-Weight Ratio, Operating Pressure
174(1)
Stiffness vs. Compliance
174(1)
Use of Reduction Gears
175(3)
Comparison of Actuating Systems
178(1)
Hydraulic Devices
178(6)
Pneumatic Devices
184(2)
Electric Motors
186(21)
DC Motors
188(1)
AC Motors
189(1)
Brushless DC motors
189(1)
Direct Drive Electric Motors
189(1)
Servomotors
190(1)
Stepper Motors
191(16)
Microprocessor Control of Electric Motors
207(3)
Pulse Width Modulation
209(1)
Direction Control of DC Motors with an H-Bridge
210(1)
Magnetostrictive Actuators
210(1)
Shape-Memory Type Metals
211(1)
Speed Reduction
212(3)
Design Project 1
215(1)
Design Project 2
215(1)
Summary
216(3)
References
217(1)
Problems
218(1)
Sensors
219(29)
Introduction
219(1)
Sensor Characteristics
219(3)
Position Sensors
222(7)
Potentiometers
222(1)
Encoders
223(3)
Linear Variable Differential Transformers (LVDT)
226(2)
Resolvers
228(1)
Time-of-Travel Displacement Sensor
229(1)
Velocity Sensors
229(1)
Encoders
230(1)
Tachometers
230(1)
Differentiation of position signal
230(1)
Acceleration Sensors
230(1)
Force and Pressure Sensors
231(2)
Piezoelectric
231(1)
Force Sensing resistor
231(1)
Strain gauges
231(2)
Torque Sensors
233(1)
Microswitches
233(1)
Light and Infrared Sensors
233(1)
Touch and Tactile Sensors
234(2)
Proximity Sensors
236(2)
Magnetic Proximity Sensors
236(1)
Optical Proximity Sensors
236(1)
Ultrasonic Proximity Sensors
237(1)
Inductive Proximity Sensors
237(1)
Capacitive Proximity Sensors
237(1)
Eddy Current Proximity Sensors
238(1)
Range-finders
238(3)
Ultrasonic Range Finders
239(1)
Light Based Range Finders
240(1)
Sniff Sensors
241(1)
Vision Systems
241(1)
Voice Recognition Devices
241(1)
Voice Synthesizers
242(1)
Remote Center Compliance (RCC) Device
242(3)
Design Project
245(1)
Summary
246(2)
References
246(2)
Image Processing and Analysis with Vision Systems
248(63)
Introduction
248(1)
Image Processing versus Image Analysis
248(1)
Two- and Three-Dimensional Image Types
249(1)
What is an Image
249(1)
Acquisition of Images
250(4)
Vidicon Camera
250(2)
Digital Camera
252(2)
Digital Images
254(1)
Frequency Domain vs. Spatial Domain
254(1)
Fourier Transform of a Signal and its Frequency Content
255(2)
Frequency Content of an Image; Noise, Edges
257(2)
Spatial Domain Operations: Convolution Mask
259(3)
Sampling and Quantization
262(1)
Sampling Theorem
263(4)
Image-Processing Techniques
267(1)
Histogram of Images
267(1)
Thresholding
268(1)
Connectivity
269(2)
Noise Reduction
271(4)
Convolution Masks
272(1)
Image Averaging
273(1)
Frequency Domain
274(1)
Median Filters
274(1)
Edge Detection
275(4)
Hough Transform
279(3)
Segmentation
282(1)
Segmentation by Region Growing and Region Splitting
282(2)
Binary Morphology Operations
284(4)
Thickening Operation
284(1)
Dilation
285(1)
Erosion
285(1)
Skeletonization
286(1)
Open Operation
287(1)
Close Operation
287(1)
Fill Operation
287(1)
Gray Morphology Operations
288(1)
Erosion
288(1)
Dilation
288(1)
Image Analysis
288(1)
Object Recognition by Features
288(10)
Basic Features Used for Object Identification
289(1)
Moments
290(7)
Template Matching
297(1)
Discrete Fourier Descriptors
297(1)
Computed Tomography
297(1)
Depth Measurement with Vision Systems
298(3)
Scene Analysis vs. Mapping
298(1)
Range Detection and Depth Analysis
299(1)
Stereo Imaging
299(1)
Scene Analysis with Shading and Sizes
300(1)
Specialized Lighting
301(1)
Image Data Compression
302(2)
Intraframe Spatial Domain Techniques
302(1)
Interframe Coding
303(1)
Real-Time Image Processing
304(1)
Heuristics
304(1)
Applications of Vision Systems
305(1)
Design project
306(1)
Summary
306(5)
References
307(1)
Problems
308(3)
Fuzzy Logic Control
311(20)
Introduction
311(2)
Fuzzy Control: What is needed
313(1)
Crisp Values vs. Fuzzy Values
314(1)
Fuzzy Sets: Degrees of Membership and Truth
314(1)
Fuzzification
315(1)
Fuzzy Inference Rule Base
316(2)
Defuzzification
318(4)
Center-of-Gravity Method
318(1)
Mamdani's Inference Method
318(4)
Simulation of Fuzzy Logic Controller
322(1)
Applications of Fuzzy Logic in Robotics
323(4)
Design Project
327(1)
Summary
328(3)
References
328(1)
Problems
328(3)
APPENDIX A331(8)
A.1. Matrix Algebra and Notation: A Review
331(5)
A.2. Calculation of an Angle From its Sine, Cosine, or Tangent
336(3)
Problems
338(1)
Index339


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