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