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Robot Modeling and Kinematics

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ISBN-10: 1584508515

ISBN-13: 9781584508519

Edition: 2006

Authors: Rachid Manseur

List price: $49.95
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Robot Modeling and Kinematics teaches the fundamental topics of robotics, using cutting-edge visualization software and computer tools to illustrate topics and provide a comprehensive process of teaching and learning. The book provides an introduction to robotics with an emphasis on the study of robotic arms, their mathematical description, and the equations describing their motion. It teaches how to model robotic arms efficiently and analyze their kinematics. The kinematics of robot manipulators is also presented beginning with the use of simple robot mechanisms and progressing to the most complex robot manipulator structures. While mathematically rigorous, the book?s focus is on ease of…    
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Book details

List price: $49.95
Copyright year: 2006
Publisher: Charles River Media
Publication date: 4/13/2006
Binding: Hardcover
Pages: 367
Size: 9.50" wide x 7.50" long x 1.25" tall
Weight: 2.134
Language: English

Preface
Introduction
Viewing VRML Files
Textbook Organization
Robotics and Mechatronics
Why Robots?
Types of Robots: General Overview
What's in a Robot?
Links and Joints
Representation and Visualization of Robot Joints
Robot Arm Structures
Modeling the Human Arm
Joints and Degrees of Freedom
Robot End-Effectors
Industrial Applications of Robot Manipulators
Robot Specifications
Robot Manufacturers
Flexible Manufacturing
The Future of Robotics
Summary
Exercises
Object Location
Object Frames
Position and Orientation in 3D
The Frame Transform
3D Rotations and Translations
RPY Angles Algorithm
Visualizing RPY Angles
Visualizing Euler Angles
Homogeneous Frame Transforms
Summary
Exercises
Robot Modeling
Modeling Robotic Arms
The Denavit-Hartenberg Parameters
Link Frame Assignments
Robot Manipulator Modeling
Examples of Robot Link Sequences
Homogeneous Frame Transforms
Virtual DH Parameters
The Robot Home Position
Converse Robots: Exchanging Base and End-Effector Frames
Modeling Examples
RModelo: A Robot Virtual Modeling Program
The PUMA 560 Virtual Model
Summary
Exercises
Forward Kinematics
Forward Kinematics of Robot Manipulators
Inverse of a Homogeneous Frame Transform Matrix
Inverse of a Pose Matrix
Computing Separate Pose Matrix Elements
End-Effector Frame Parameters
Forward Kinematics of a Cartesian Robot
Wrist-Partitioned Robots
Forward Kinematics of the PUMA 560
Forward Kinematics of the GP66
Symbolic Kinematic Equations Generator Program (SKEG)
Summary
Exercises
Inverse Kinematics
General Inverse Kinematics Considerations
Solving a Three-Joint Robot
General Inverse Kinematics Procedure
Other Kinematics Equations
Solving Inverse Kinematics Equations
Joint, Cartesian, and Task Space
Inverse Kinematics of the PUMA 560 Robot
Number of Solutions
Summary
Exercises
Kinematics of 4-Joint Robot Arms
The Four-DOF Reduced Set of Equations
Inverse Kinematics of the General Four-Revolute Joint Arm
Special Four-Joint Structures
Special Structures Examples
Summary
Exercises
Kinematics of Five-Joint Robots
Kinematic Analysis of Five-DOF Arms
Numerical Inverse Kinematics for Five-Revolute-Joint Arms
Closed-Form Solution for Five-Joint Arms
The KAP5 Program
Summary
Exercises
Kinematics of Six-Joint Robot Arms
The Six-Joint Kinematics Problem
Classification of Six-Joint Arms
Solving the General 6R Inverse Kinematics Problem
2D Iterative Method
The KAP6R Program
1D Iterative Method
Kinematics of the OM25 Robot Arm
Computing Joint Variables in Closed-Form
Summary
Exercises
The Jacobian and Velocity Kinematics
Cartesian and Joint Velocities
The Manipulator Jacobian Matrix
The End-Effector Linear Velocity
The End-Effector Angular Velocity
Computing the Jacobian
Jacobian of Six-Joint Robots
Differential Inverse Kinematics
Orientation and Angular Velocity
Link Velocities
Summary
Exercises
Robot Singularities and Redundant Arms
Robot Singularities
Kinematics of Redundant Manipulators
Differential Kinematics of Redundant Manipulators
Summary
Exercises
About the CD-ROM
General Layout
System Requirements
VRML and 3D Visualization
VRML Viewers
RModelo Displays
Mathematics Review
Points and Vectors
Matrices
Trigonometric Equations
Trigonometric Functions and the Unit Circle
Triangular Relations of Trigonometric Functions
Trigonometric Identities and Relations
The Atan2 Function
Common Robotics Equations
Bibliography
Index