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Theory of Applied Robotics Kinematics, Dynamics, and Control (2nd Edition)

ISBN-10: 1441917497
ISBN-13: 9781441917492
Edition: 2nd 2010
Authors: Reza N. Jazar
List price: $69.00 Buy it from $60.93
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Description: Theory of Applied Robotics: Kinematics, Dynamics, and Control 2E is appropriate for courses in robotics that emphasize kinematics, dynamics, and control.The contents of this book are presented at a theoretical-practical level. It explains robotics  More...

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Book details

List price: $69.00
Edition: 2nd
Copyright year: 2010
Publisher: Springer London, Limited
Publication date: 6/21/2010
Binding: Hardcover
Pages: 883
Size: 6.25" wide x 9.25" long x 2.00" tall
Weight: 3.036
Language: English

Theory of Applied Robotics: Kinematics, Dynamics, and Control 2E is appropriate for courses in robotics that emphasize kinematics, dynamics, and control.The contents of this book are presented at a theoretical-practical level. It explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.The second edition includes updated and expanded exercise sets and problems, new coverage includes, Components and Mechanisms of a Robotic Systems with actuators, sensors and controllers and updated and expanded material on Kinematics including geometric kinematics, Derivative Kinematics, velocity kinematics, and new coverage on sensing and control including position sensors, speed sensors and acceleration sensors.

Introduction
Historical Development
Robot Components
Link
Joint
Manipulator
Wrist
End-effector
Actuators
Sensors
Controller
Robot Classifications
Geometry
Workspace
Actuation
Control
Application
Introduction to Robot's Kinematics, Dynamics, and Control
* Triad
Unit Vectors
Reference Frame and Coordinate System
Vector Function
Problems of Robot Dynamics
Preview of Covered Topics
Robots as Multi-disciplinary Machines
Summary
Exercises
Kinematics
Rotation Kinematics
Rotation about Global Cartesian Axes
Successive Rotation about Global Cartesian Axes
Global Roll-Pitch-Yaw Angles
Rotation about Local Cartesian Axes
Successive Rotation about Local Cartesian Axes
Euler Angles
Local Roll-Pitch-Yaw Angles
Local Axes Versus Global Axes Rotation
General Transformation
Active and Passive Transformation
Summary
Key Symbols
Exercises
Orientation Kinematics
Axis-angle Rotation
* Euler Parameters
* Determination of Euler Parameters
* Quaternions
* Spinors and Rotators
* Problems in Representing Rotations
* Rotation matrix
* Angle-axis
* Euler angles
* Quaternion
* Euler parameters
* Composition and Decomposition of Rotations
Summary
Key Symbols
Exercises
Motion Kinematics
Rigid Body Motion
Homogeneous Transformation
Inverse. Homogeneous Transformation
Compound Homogeneous Transformation
* Screw Coordinates
* Inverse Screw
* Compound Screw Transformation
* The Pl�cker Line Coordinate
* The Geometry of Plane and Line
* Moment
* Angle and Distance
* Plane and Line
* Screw and Pl�cker Coordinate
Summary
Key Symbols
Exercises
Forward Kinematics
Denavit-Hartenberg Notation
Transformation Between Two Adjacent Coordinate Frames
Forward Position Kinematics of Robots
Spherical Wrist
Assembling Kinematics
* Coordinate Transformation Using Screws
* Non Denavit-Hartenberg Methods
Summary
Key Symbols
Exercises
Inverse Kinematics
Decoupling Technique
Inverse Transformation Technique
* Iterative Technique
* Comparison of the Inverse Kinematics Techniques
* Existence and Uniqueness of Solution
* Inverse Kinematics Techniques
* Singular Configuration
Summary
Key Symbols
Exercises
Angular Velocity
Angular Velocity Vector and Matrix
* Time Derivative and Coordinate Frames
Rigid Body Velocity
* Velocity Transformation Matrix
Derivative of a Homogeneous Transformation Matrix
Summary
Key Symbols
Exercises
Velocity Kinematics
* Rigid Link Velocity
Forward Velocity Kinematics
Jacobian Generating Vectors
Inverse Velocity Kinematics
Summary
Key Symbols
Exercises
Numerical Methods in Kinematics
Linear Algebraic Equations
Matrix Inversion
Nonlinear Algebraic Equations
* Jacobian Matrix From Link Transformation Matrices
Summary
Key Symbols
Exercises
Dynamics
Acceleration Kinematics
Angular Acceleration Vector and Matrix
Rigid Body Acceleration
* Acceleration Transformation Matrix
Forward Acceleration Kinematics
Inverse Acceleration Kinematics
* Rigid Link Recursive Acceleration
Summary
Key Symbols
Exercises
Motion Dynamics
Force and Moment
Rigid Body Translational Kinetics
Rigid Body Rotational Kinetics
Mass Moment of Inertia Matrix
Lagrange's Form of Newton's Equations
Lagrangian Mechanics
Summary
Key Symbols
Exercises
Robot Dynamics
Rigid Link Newton-Euler Dynamics
* Recursive Newton-Euler Dynamics
Robot Lagrange Dynamics
* Lagrange Equations and Link Transformation Matrices
Robot Statics
Summary
Key Symbols
Exercises
Control
Path Planning
Cubic Path
Polynomial Path
* Non-Polynomial Path Planning
Manipulator Motion by Joint Path
Cartesian Path
* Rotational Path
Manipulator Motion by End-Effector Path
Summary
Key Symbols
Exercises
Time Optimal Control
* Minimum Time and Bang-Bang Control
* Floating Time Method
* Time-Optimal Control for Robots
Summary
Key Symbols
Exercises
Control Techniques
Open and Closed-Loop Control
Computed Torque Control
Linear Control Technique
Proportional Control
Integral Control
Derivative Control
Sensing and Control
Position Sensors
Speed Sensors
Acceleration Sensors
Summary
Key Symbols
Exercises
References
Global Frame Triple Rotation
Local Frame Triple Rotation
Principal Central Screws Triple Combination
Trigonometric Formula
Index

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