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Preface | |
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Fundamentals | |
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Introduction | |
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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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Summary | |
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References | |
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Problems | |
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Kinematics of Robots: Position Analysis | |
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Introduction | |
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Robots as Mechanisms | |
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Conventions | |
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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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Forward and Inverse Kinematic Equations: Position | |
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Forward and Inverse Kinematic Equations: Orientation | |
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Forward and Inverse Kinematic Equations: Position and | |
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Orientation | |
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Denavit-Hartenberg Representation of Forward Kinematic | |
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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 | |
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Representation | |
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Design Projects | |
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Robot | |
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Summary | |
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References | |
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Problems | |
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Differential Motions and Velocities | |
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Introduction | |
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Differential Relationships | |
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Jacobian | |
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Differential versus Large-Scale Motions | |
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Differential Motions of a Frame versus a Robot | |
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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 Projects | |
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Robot | |
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Summary | |
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References | |
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Problems | |
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Dynamic Analysis and Forces | |
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Introduction | |
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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 DOF 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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Summary | |
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References | |
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Problems | |
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Trajectory Planning | |
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Introduction | |
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Path Trajectory | |
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Joint-Space versus 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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Summary | |
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References | |
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Problems | |
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Motion Control Systems | |
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Introduction | |
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Basic Components and Terminology | |
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Block Diagrams | |
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System Dynamics | |
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The Laplace Transform | |
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The Inverse Laplace Transform | |
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Transfer Function | |
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Block Diagram Algebra | |
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Characteristics of First Order Transfer Functions | |
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Characteristics of Second Order Transfer Functions | |
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Characteristic Equation: Pole/Zero Mapping | |
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Steady-State Error | |
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Root Locus Method | |
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Proportional Controllers | |
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Proportional-plus-Integral Controllers | |
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Proportional-plus-Derivative Controllers | |
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Proportional-Integral-Derivative Controller (PID) | |
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Lead and Lag Compensators | |
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The Bode Diagram and Frequency Domain Analysis | |
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Open-Loop versus Closed-Loop Applications | |
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Multiple-Input and Multiple-Output Systems | |
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State-Space Control Methodology | |
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Digital Control | |
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Nonlinear Control Systems | |
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Electromechanical Systems Dynamics: Robot Actuation and Control | |
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Design Projects | |
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Summary | |
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References | |
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Problems | |
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Actuators and Drive Systems | |
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Introduction | |
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Characteristics of Actuating Systems | |
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Comparison of Actuating Systems | |
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Hydraulic Actuators | |
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Pneumatic Devices | |
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Electric Motors 279 | |
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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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Electroactive Polymer Actuators (EAP) | |
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Speed Reduction | |
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Other Systems | |
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Design Projects | |
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Summary | |
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References | |
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Problems 317 | |
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Sensors | |
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Introduction | |
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Sensor Characteristics | |
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Sensor Utilization | |
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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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Visible 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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Taste 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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Summary | |
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References | |
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Image Processing and Analysis with Vision Systems | |
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Introduction | |
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Basic Concepts | |
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Fourier Transform and Frequency Content of a Signal | |
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Frequency Content of an Image; Noise, Edges | |
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Resolution 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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Spatial Domain Operations: Convolution Mask | |
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Connectivity | |
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Noise Reduction | |
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Edge Detection | |
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Sharpening an Image | |
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Hough Transform | |
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Segmentation 388 | |
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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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Color Images | |
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Heuristics | |
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Applications of Vision Systems | |
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Design Project | |
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Summary | |
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References | |
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Problems | |
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Fuzzy Logic Control | |
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Introduction | |
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Fuzzy Control: What Is Needed | |
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Crisp Values versus 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 Fuzzy Logic in Robotics | |
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Design Project | |
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Summary | |
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References | |
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Problems | |
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Matrix Algebra and Notation: A Review | |
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Calculation of an Angle from Its Sine, Cosine, or Tangent | |
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Problems | |
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Image Acquisition Systems | |
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Vidicon Camera | |
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Digital Camera | |
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References | |
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Root Locus and Bode Diagram with MatlabTM | |
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Root Locus | |
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Bode Diagram | |
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Simulation of Robots with Commercial Software | |