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Introduction to Robotics : Mechanics and Control

ISBN: 9780201095289 | 0201095289
Format: Hardcover
Publisher: Prentice Hall
Pub. Date: 1/1/1989

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SummaryTable of Contents
The second edition of this highly successful book introduces the science and engineering of mechanical manipulation and provides a complete overview of the fundamental skills underlying the mechanics and control of manipulators. This edition features new material on Controls, Computer-Aided Design and Manufacturing, and Off-Line Programming Systems. Each chapter introduces the fundamentals of a topic and uses specially-designed examples to demonstrate the use of these principles. The first edition was the winner of the Society of Manufacturing ... MORE
Introduction
1(18)
Background
1(3)
The mechanics and control of mechanical manipulators
... MORE4(12)
Notation
16(3)
Spatial Descriptions and Transformations
19(49)
Introduction
19(1)
Descriptions: positions, orientations, and frames
20(5)
Mappings: changing descriptions from frame to frame
25(7)
Operators: translations, rotations, transformations
32(5)
Summary of interpretations
37(1)
Transformation arithmetic
37(3)
Transform equations
40(3)
More on representation of orientation
43(13)
Transformation of free vectors
56(3)
Computational considerations
59(9)
Manipulator Kinematics
68(45)
Introduction
68(1)
Link description
69(3)
Link connection description
72(3)
Convention for affixing frames to links
75(8)
Manipulator kinematics
83(2)
Actuator space, joint space, and Cartesian space
85(1)
Examples: kinematics of two industrial robots
86(13)
Frames with standard names
99(3)
Where is the tool?
102(1)
Computational considerations
102(11)
Inverse Manipulator Kinematics
113(39)
Introduction
113(1)
Solvability
114(6)
The notion of manipulator subspace when n <6
120(2)
Algebraic vs. geometric
122(6)
Algebraic solution by reduction to polynomial
128(1)
Pieper's solution when three axes intersect
129(2)
Examples of inverse manipulator kinematics
131(10)
The standard frames
141(2)
Solve-ing a manipulator
143(1)
Repeatability and accuracy
143(1)
Computational considerations
144(8)
Jacobians: Velocities and Static Forces
152(35)
Introduction
152(1)
Notation for time-varying position and orientation
153(3)
Linear and rotational velocity of rigid bodies
156(3)
More on angular velocity
159(5)
Motion of the links of a robot
164(1)
Velocity ``propagation'' from link to link
165(4)
Jacobians
169(4)
Singularities
173(2)
Static forces in manipulators
175(4)
Jacobians in the force domain
179(1)
Cartesian transformation of velocities and static forces
180(7)
Manipulator Dynamics
187(40)
Introduction
187(1)
Acceleration of a rigid body
188(2)
Mass distribution
190(5)
Newton's equation, Euler's equation
195(1)
Iterative Newton-Euler dynamic formulation
196(5)
Iterative vs. closed form
201(1)
An example of closed form dynamic equations
201(4)
The structure of the manipulator dynamic equations
205(2)
Lagrangian formulation of manipulator dynamics
207(4)
Formulating manipulator dynamics in Cartesian space
211(3)
Inclusion of nonrigid body effects
214(1)
Dynamic simulation
215(1)
Computational considerations
216(11)
Trajectory Generation
227(35)
Introduction
227(1)
General considerations in path description and generation
228(2)
Joint space schemes
230(16)
Cartesian space schemes
246(3)
Geometric problems with Cartesian paths
249(3)
path Generation at Run Time
252(3)
Description of paths with a robot programming language
255(1)
Planning paths using the dynamic model
255(1)
Collision-free path planning
256(6)
Manipulator Mechanism Design
262(37)
Introduction
262(1)
Basing the design on task requirements
263(4)
Kinematic configuration
267(6)
Quantitative measures of workspace attributes
273(4)
Redundant and closed chain structures
277(3)
Actuation schemes
280(3)
Stiffness and deflections
283(6)
Position sensing
289(1)
Force sensing
290(9)
Linear Control of Manipulators
299(33)
Introduction
299(1)
Feedback and closed loop control
300(2)
Second-order linear systems
302(8)
Control of second-order systems
310(2)
Control law partitioning
312(3)
Trajectory-following control
315(1)
Disturbance rejection
316(2)
Continuous vs. discrete time control
318(1)
Modeling and control of a single joint
319(7)
Architecture of an industrial robot controller
326(6)
Nonlinear control of manipulators
332(33)
Introduction
332(1)
Nonlinear and time-varying systems
333(5)
Multi-input, multi-output control systems
338(1)
The control problem for manipulators
338(2)
Practical considerations
340(6)
Present industrial robot control systems
346(2)
Lyapunov stability analysis
348(5)
Cartesian-based control systems
353(6)
Adaptive control
359(6)
Force control of Manipulators
365(25)
Introduction
365(1)
Application of industrial robots to assembly tasks
366(1)
A framework for control in partially constrained tasks
367(6)
The hybrid position/force control problem
373(1)
Force control of a mass-spring
374(4)
The hybrid position/force control scheme
378(6)
Present industrial robot control schemes
384(6)
Robot Programming Languages and Systems
390(24)
Introduction
390(1)
The three levels of robot programming
391(3)
A sample application
394(2)
Requirements of a robot programming language
396(5)
An example application coded in three RPLs
401(6)
Problems peculiar to robot programming languages
407(7)
Off-Line Programming Systems
414(33)
Introduction
414(3)
Central issues in OLP systems
417(6)
CimStation
423(12)
Automating subtasks in OLP systems
435(2)
Summary
437(3)
Appendices
A Trigonometric Identities
440(2)
B The Twenty-Four Angle Set Conventions
442(3)
C Some Inverse Kinematic Formulas
445(2)
Index447

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