# Introduction to Robotics : Analysis, Control and Applications

, by Saeed B. Niku**Note:**Supplemental materials are not guaranteed with Rental or Used book purchases.

- ISBN: 9780470604465 | 0470604468
- Cover: Hardcover
- Copyright: 9/1/2010

Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they've learned.

Preface | |

Fundamentals | |

Introduction | |

What Is a Robot? | |

Classification of Robots | |

What Is Robotics? | |

History of Robotics | |

Advantages and Disadvantages of Robots | |

Robot Components | |

Robot Degrees of Freedom | |

Robot Joints | |

Robot Coordinates | |

Robot Reference Frames | |

Programming Modes | |

Robot Characteristics | |

Robot Workspace | |

Robot Languages | |

Robot Applications | |

Other Robots and Applications | |

Social Issues | |

Summary | |

References | |

Problems | |

Kinematics of Robots: Position Analysis | |

Introduction | |

Robots as Mechanisms | |

Conventions | |

Matrix Representation | |

Homogeneous Transformation Matrices | |

Representation of Transformations | |

Inverse of Transformation Matrices | |

Forward and Inverse Kinematics of Robots | |

Forward and Inverse Kinematic Equations: Position | |

Forward and Inverse Kinematic Equations: Orientation | |

Forward and Inverse Kinematic Equations: Position and | |

Orientation | |

Denavit-Hartenberg Representation of Forward Kinematic | |

Equations of Robots | |

The Inverse Kinematic Solution of Robots | |

Inverse Kinematic Programming of Robots | |

Degeneracy and Dexterity | |

The Fundamental Problem with the Denavit-Hartenberg | |

Representation | |

Design Projects | |

Robot | |

Summary | |

References | |

Problems | |

Differential Motions and Velocities | |

Introduction | |

Differential Relationships | |

Jacobian | |

Differential versus Large-Scale Motions | |

Differential Motions of a Frame versus a Robot | |

Differential Motions of a Frame | |

Interpretation of the Differential Change | |

Differential Changes between Frames | |

Differential Motions of a Robot and Its Hand Frame | |

Calculation of the Jacobian | |

How to Relate the Jacobian and the Differential Operator | |

Inverse Jacobian | |

Design Projects | |

Robot | |

Summary | |

References | |

Problems | |

Dynamic Analysis and Forces | |

Introduction | |

Lagrangian Mechanics: A Short Overview | |

Effective Moments of Inertia | |

Dynamic Equations for Multiple DOF Robots | |

Static Force Analysis of Robots | |

Transformation of Forces and Moments between Coordinate Frames | |

Design Project | |

Summary | |

References | |

Problems | |

Trajectory Planning | |

Introduction | |

Path Trajectory | |

Joint-Space versus Cartesian-Space Descriptions | |

Basics of Trajectory Planning | |

Joint-Space Trajectory Planning | |

Cartesian-Space Trajectories | |

Continuous Trajectory Recording | |

Design Project | |

Summary | |

References | |

Problems | |

Motion Control Systems | |

Introduction | |

Basic Components and Terminology | |

Block Diagrams | |

System Dynamics | |

The Laplace Transform | |

The Inverse Laplace Transform | |

Transfer Function | |

Block Diagram Algebra | |

Characteristics of First Order Transfer Functions | |

Characteristics of Second Order Transfer Functions | |

Characteristic Equation: Pole/Zero Mapping | |

Steady-State Error | |

Root Locus Method | |

Proportional Controllers | |

Proportional-plus-Integral Controllers | |

Proportional-plus-Derivative Controllers | |

Proportional-Integral-Derivative Controller (PID) | |

Lead and Lag Compensators | |

The Bode Diagram and Frequency Domain Analysis | |

Open-Loop versus Closed-Loop Applications | |

Multiple-Input and Multiple-Output Systems | |

State-Space Control Methodology | |

Digital Control | |

Nonlinear Control Systems | |

Electromechanical Systems Dynamics: Robot Actuation and Control | |

Design Projects | |

Summary | |

References | |

Problems | |

Actuators and Drive Systems | |

Introduction | |

Characteristics of Actuating Systems | |

Comparison of Actuating Systems | |

Hydraulic Actuators | |

Pneumatic Devices | |

Electric Motors 279 | |

Microprocessor Control of Electric Motors | |

Magnetostrictive Actuators | |

Shape-Memory Type Metals | |

Electroactive Polymer Actuators (EAP) | |

Speed Reduction | |

Other Systems | |

Design Projects | |

Summary | |

References | |

Problems 317 | |

Sensors | |

Introduction | |

Sensor Characteristics | |

Sensor Utilization | |

Position Sensors | |

Velocity Sensors | |

Acceleration Sensors | |

Force and Pressure Sensors | |

Torque Sensors | |

Microswitches | |

Visible Light and Infrared Sensors | |

Touch and Tactile Sensors | |

Proximity Sensors | |

Range Finders | |

Sniff Sensors | |

Taste Sensors | |

Vision Systems | |

Voice Recognition Devices | |

Voice Synthesizers | |

Remote Center Compliance (RCC) Device | |

Design Project | |

Summary | |

References | |

Image Processing and Analysis with Vision Systems | |

Introduction | |

Basic Concepts | |

Fourier Transform and Frequency Content of a Signal | |

Frequency Content of an Image; Noise, Edges | |

Resolution and Quantization | |

Sampling Theorem | |

Image-Processing Techniques | |

Histogram of Images | |

Thresholding | |

Spatial Domain Operations: Convolution Mask | |

Connectivity | |

Noise Reduction | |

Edge Detection | |

Sharpening an Image | |

Hough Transform | |

Segmentation 388 | |

Segmentation by Region Growing and Region Splitting | |

Binary Morphology Operations | |

Gray Morphology Operations | |

Image Analysis | |

Object Recognition by Features | |

Depth Measurement with Vision Systems | |

Specialized Lighting | |

Image Data Compression | |

Color Images | |

Heuristics | |

Applications of Vision Systems | |

Design Project | |

Summary | |

References | |

Problems | |

Fuzzy Logic Control | |

Introduction | |

Fuzzy Control: What Is Needed | |

Crisp Values versus Fuzzy Values | |

Fuzzy Sets: Degrees of Membership and Truth | |

Fuzzification | |

Fuzzy Inference Rule Base | |

Defuzzification | |

Simulation of Fuzzy Logic Controller | |

Applications of Fuzzy Logic in Robotics | |

Design Project | |

Summary | |

References | |

Problems | |

Matrix Algebra and Notation: A Review | |

Calculation of an Angle from Its Sine, Cosine, or Tangent | |

Problems | |

Image Acquisition Systems | |

Vidicon Camera | |

Digital Camera | |

References | |

Root Locus and Bode Diagram with MatlabTM | |

Root Locus | |

Bode Diagram | |

Simulation of Robots with Commercial Software | |

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