Introduction to Robotics Analysis, Systems, Applications

ISBN-10: 0130613096
ISBN-13: 9780130613097
Edition: 2002
Authors: Saeed B. Niku
List price: $101.20
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Description: 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  More...

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Book details

List price: $101.20
Copyright year: 2002
Publisher: Prentice Hall PTR
Publication date: 7/20/2001
Binding: Hardcover
Pages: 349
Size: 7.00" wide x 9.25" long x 0.75" tall
Weight: 1.540
Language: English

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, microprocessor actuator control, integration of sensors, vision systems, and fuzzy logic.

Most chapter begins with an Introduction and conclude with a Summary, References and Problems
Fundamentals
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
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 Project 1: A Three-Degree-of-Freedom Robot
Differential Motions and Velocities
Differential Relationships
Jacobian
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 Project
Dynamic Analysis and Forces
Lagrangian Mechanics: A Short Overview
Effective Moments of Inertia
Dynamic Equations for Multiple-Degree-of-Freedom Robots
Static Force Analysis of Robots
Transformation of Forces and Moments Between Coordinate Frames
Design Project
Trajectory Planning
Path vs. Trajectory
Joint-Space vs. Cartesian-Space Descriptions
Basics of Trajectory Planning
Joint-Space Trajectory Planning
Cartesian-Space Trajectories
Continuous Trajectory Recording
Design Project
Actuators
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
Sensors
Sensor Characteristics
Position Sensors
Velocity Sensors
Acceleration Sensors
Force and Pressure Sensors
Torque Sensors
Microswitches
Light and Infrared Sensors
Touch and Tactile Sensors
Proximity Sensors
Range-finders
Sniff Sensors
Vision Systems
Voice Recognition Devices
Voice Synthesizers
Remote Center Compliance (RCC) Device
Design Project
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
Thresholding
Connectivity
Noise Reduction
Edge Detection
Hough Transform
Segmentation
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
Real-Time Image Processing
Heuristics
Applications of Vision Systems
Design project
Fuzzy Logic Control
Fuzzy Control: What is Needed
Crisp Values vs. Fuzzy Values
Fuzzy Sets: Degrees of Membership and Truth
Fuzzification
Fuzzy Inference Rule Base
Defuzzification
Simulation of Fuzzy Logic Controller
Applications of Fu

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