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| Most chapter begins with an Introduction and conclude with a Summary, References and Problems | |
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| Fundamentals | |
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| What is a Robot? | |
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| Classification of Robots | |
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| What is Robotics? | |
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| History of Robotics | |
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| Advantages and Disadvantages of Robots | |
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| Robot Components | |
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| Robot Degrees of Freedom | |
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| Robot Joints | |
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| Robot Coordinates | |
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| Robot Reference Frames | |
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| Programming Modes | |
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| Robot Characteristics | |
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| Robot Workspace | |
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| Robot Languages | |
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| Robot Applications | |
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| Other Robots and Applications | |
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| Social Issues | |
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| Robot Kinematics: Position Analysis | |
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| Robots as Mechanisms | |
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| Matrix Representation | |
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| Homogeneous Transformation Matrices | |
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| Representation of Transformations | |
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| Inverse of Transformation Matrices | |
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| Forward and Inverse Kinematics of Robots | |
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| Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots | |
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| The Inverse Kinematic Solution of Robots | |
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| Inverse Kinematic Programming of Robots | |
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| Degeneracy and Dexterity | |
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| The Fundamental Problem with the Denavit-Hartenberg Representation | |
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| Design Project 1: A Three-Degree-of-Freedom Robot | |
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| Differential Motions and Velocities | |
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| Differential Relationships | |
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| Jacobian | |
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| Differential Motions of a Frame | |
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| Interpretation of the Differential Change | |
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| Differential Changes Between Frames | |
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| Differential Motions of a Robot and Its Hand Frame | |
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| Calculation of the Jacobian | |
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| How to Relate the Jacobian and the Differential Operator | |
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| Inverse Jacobian | |
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| Design Project | |
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| Dynamic Analysis and Forces | |
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| Lagrangian Mechanics: A Short Overview | |
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| Effective Moments of Inertia | |
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| Dynamic Equations for Multiple-Degree-of-Freedom Robots | |
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| Static Force Analysis of Robots | |
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| Transformation of Forces and Moments Between Coordinate Frames | |
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| Design Project | |
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| Trajectory Planning | |
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| Path vs. Trajectory | |
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| Joint-Space vs. Cartesian-Space Descriptions | |
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| Basics of Trajectory Planning | |
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| Joint-Space Trajectory Planning | |
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| Cartesian-Space Trajectories | |
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| Continuous Trajectory Recording | |
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| Design Project | |
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| Actuators | |
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| Characteristics of Actuating Systems | |
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| Comparison of Actuating Systems | |
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| Hydraulic Devices | |
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| Pneumatic Devices | |
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| Electric Motors | |
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| Microprocessor Control of Electric Motors | |
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| Magnetostrictive Actuators | |
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| Shape-Memory Type Metals | |
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| Speed Reduction | |
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| Design Project 1 | |
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| Design Project 2 | |
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| Sensors | |
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| Sensor Characteristics | |
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| Position Sensors | |
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| Velocity Sensors | |
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| Acceleration Sensors | |
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| Force and Pressure Sensors | |
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| Torque Sensors | |
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| Microswitches | |
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| Light and Infrared Sensors | |
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| Touch and Tactile Sensors | |
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| Proximity Sensors | |
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| Range-finders | |
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| Sniff Sensors | |
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| Vision Systems | |
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| Voice Recognition Devices | |
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| Voice Synthesizers | |
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| Remote Center Compliance (RCC) Device | |
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| Design Project | |
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| Image Processing and Analysis with Vision Systems | |
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| Image Processing versus Image Analysis | |
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| Two- and Three-Dimensional Image Types | |
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| What is an Image | |
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| Acquisition of Images | |
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| Digital Images | |
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| Frequency Domain vs. Spatial Domain | |
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| Fourier Transform of a Signal and its Frequency Content | |
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| Frequency Content of an Image; Noise, Edges | |
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| Spatial Domain Operations: Convolution Mask | |
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| Sampling and Quantization | |
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| Sampling Theorem | |
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| Image-Processing Techniques | |
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| Histogram of Images | |
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| Thresholding | |
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| Connectivity | |
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| Noise Reduction | |
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| Edge Detection | |
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| Hough Transform | |
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| Segmentation | |
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| Segmentation by Region Growing and Region Splitting | |
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| Binary Morphology Operations | |
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| Gray Morphology Operations | |
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| Image Analysis | |
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| Object Recognition by Features | |
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| Depth Measurement with Vision Systems | |
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| Specialized Lighting | |
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| Image Data Compression | |
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| Real-Time Image Processing | |
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| Heuristics | |
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| Applications of Vision Systems | |
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| Design project | |
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| Fuzzy Logic Control | |
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| Fuzzy Control: What is Needed | |
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| Crisp Values vs. Fuzzy Values | |
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| Fuzzy Sets: Degrees of Membership and Truth | |
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| Fuzzification | |
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| Fuzzy Inference Rule Base | |
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| Defuzzification | |
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| Simulation of Fuzzy Logic Controller | |
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| Applications of Fu | |