Introduction to Robotics Analysis, Control, Applications

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ISBN: 9780470604465 | 0470604468
Cover: Hardcover
Copyright: 9/22/2010

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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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Introduction to Robotics Analysis, Control, Applications

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