About this title This books serves as an introduction to robotics analysis, the systems and sub-systems that constitute robots and robotic systems, and robotics applications. All of the fundamentals of robotics are covered—robotics analysis; including kinematics, kinetics and force control, and trajectory planning of robots; its sub-systems such as actuators, sensors, and vision systems; as well as robotics applications. Introduction to Robotics also includes many subjects related to mechatronics, microprocessor actuator control, integration of sensors, vision systems, and fuzzy logic. For practicing mechanical engineers, electronic and electric engineers, computer engineers, and engineering technologists who would like to learn about robotics. From the Back Cover: This book offers comprehensive, yet concise coverage of robotics. It covers analysis of robot kinematics, differential motions, robot dynamics, and trajectory planning.
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Includes bibliographical references and index. Contents Most chapter begins with an Introduction and conclude with a Summary, References and Problems. 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. Robot Kinematics: Position Analysis. Robots as Mechanisms. Matrix Representation. Homogeneous Transformation Matrices. Representation of Transformations.
Inverse of Transformation Matrices. Forward and Inverse Kinematics of Robots. The Inverse Kinematic Solution of Robots. Inverse Kinematic Programming of Robots. Degeneracy and Dexterity. Differential Motions and Velocities. Differential Relationships. Differential Motions of a Frame. Interpretation of the Differential Change. Differential Changes Between Frames. Calculation of the Jacobian.
How to Relate the Jacobian and the Differential Operator. Inverse Jacobian. Design Project. Dynamic Analysis and Forces. Lagrangian Mechanics: A Short Overview. Effective Moments of Inertia. Static Force Analysis of Robots. Trajectory Planning. Path vs. Joint-Space vs. Cartesian-Space Descriptions. Basics of Trajectory Planning. Joint-Space Trajectory Planning.
Cartesian-Space Trajectories. Continuous Trajectory Recording. Characteristics of Actuating Systems. Comparison of Actuating Systems. Hydraulic Devices. Pneumatic Devices. Electric Motors. Microprocessor Control of Electric Motors. Magnetostrictive Actuators. Shape-Memory Type Metals.
Speed Reduction. Design Project 1. Design Project 2. Sensor Characteristics. Position Sensors. Velocity Sensors. Acceleration Sensors. Force and Pressure Sensors. Torque Sensors. Light and Infrared Sensors. Touch and Tactile Sensors. Proximity Sensors. Sniff Sensors. Vision Systems. Voice Recognition Devices.
Voice Synthesizers. Image Processing and Analysis with Vision Systems. Image Processing versus Image Analysis. Two- and Three-Dimensional Image Types. What is an Image. Acquisition of Images. Digital Images. Frequency Domain vs.
Spatial Domain. Fourier Transform of a Signal and its Frequency Content. Frequency Content of an Image-- Noise, Edges. Spatial Domain Operations: Convolution Mask. Sampling and Quantization. Sampling Theorem.
Image-Processing Techniques. Histogram of Images. Noise Reduction. Edge Detection. Hough Transform. Segmentation by Region Growing and Region Splitting. Binary Morphology Operations. Gray Morphology Operations. Image Analysis. Object Recognition by Features. Depth Measurement with Vision Systems.
All of the fundamentals of robotics are covered—robotics analysis; including kinematics, kinetics and force control, and trajectory planning of robots; its sub-systems such as actuators, sensors, and vision systems; as well as roborics applications. General Solution for Articulated Robot Arms 2. Differential Rotations about the Reference Axes 3. Social Issues Summary References Problems ch. Want to Read Currently Reading Read. Introduction to Robotics: Analysis, Control, Applications, 2nd Edition To include a comma in your tag, surround the tag with double quotes.
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