Introduction to robotics : analysis, control, applications /

"This new 3rd edition of the Introduction to Robotics textbook is the culmination of over a year of intense work. If judging the previous edition by the number of instructors who adopted it, number of countries in which it was popularly sold, and the number of language into which it was transla...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Niku, Saeed B. (Saeed Benjamin) (Autor)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Hoboken, NJ : John Wiley & Sons, Inc., 2020.
Edición:Third edition.
Temas:
Robotics.
Robotics
Robotique.
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Intro
  • Title Page
  • Copyright Page
  • Contents
  • Preface
  • About the Companion Website
  • Chapter 1 Fundamentals
  • 1.1 Introduction
  • 1.2 What Is a Robot?
  • 1.3 Classification of Robots
  • 1.4 What Is Robotics?
  • 1.5 History of Robotics
  • 1.6 Advantages and Disadvantages of Robots
  • 1.7 Robot Components
  • 1.8 Robot Degrees of Freedom
  • 1.9 Robot Joints
  • 1.10 Robot Coordinates
  • 1.11 Robot Reference Frames
  • 1.12 Programming Modes
  • 1.13 Robot Characteristics
  • 1.14 Robot Workspace
  • 1.15 Robot Languages
  • 1.16 Robot Applications
  • 1.17 Other Robots and Applications
  • 1.18 Collaborative Robots
  • 1.19 Social Issues
  • 1.20 Summary
  • References
  • Problems
  • Chapter 2 Kinematics of Serial Robots: Position Analysis
  • 2.1 Introduction
  • 2.2 Robots as Mechanisms
  • 2.3 Conventions
  • 2.4 Matrix Representation
  • 2.4.1 Representation of a Point in Space
  • 2.4.2 Representation of a Vector in Space
  • 2.4.3 Representation of a Frame at the Origin of a Fixed-Reference Frame
  • 2.4.4 Representation of a Frame Relative to a Fixed Reference Frame
  • 2.4.5 Representation of a Rigid Body
  • 2.5 Homogeneous Transformation Matrices
  • 2.6 Representation of Transformations
  • 2.6.1 Representation of a Pure Translation
  • 2.6.2 Representation of a Pure Rotation about an Axis
  • 2.6.3 Representation of Combined Transformations
  • 2.6.4 Transformations Relative to the Current (Moving) Frame
  • 2.6.5 Mixed Transformations Relative to Rotating and Reference Frames
  • 2.7 Inverse of Transformation Matrices
  • 2.8 Forward and Inverse Kinematics of Robots
  • 2.9 Forward and Inverse Kinematic Equations: Position
  • 2.9.1 Cartesian (Gantry, Rectangular) Coordinates
  • 2.9.2 Cylindrical Coordinates
  • 2.9.3 Spherical Coordinates
  • 2.9.4 Articulated Coordinates
  • 2.10 Forward and Inverse Kinematic Equations: Orientation
  • 2.10.1 Roll, Pitch, Yaw (RPY) Angles
  • 2.10.2 Euler Angles
  • 2.10.3 Articulated Joints
  • 2.11 Forward and Inverse Kinematic Equations: Position and Orientation
  • 2.12 Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots
  • 2.13 The Inverse Kinematic Solution of Robots
  • 2.13.1 General Solution for Articulated Robot Arms
  • 2.14 Inverse Kinematic Programming of Robots
  • 2.15 Dual-Arm Cooperating Robots
  • 2.16 Degeneracy and Dexterity
  • 2.16.1 Degeneracy
  • 2.16.2 Dexterity
  • 2.17 The Fundamental Problem with the Denavit-Hartenberg Representation
  • 2.18 Design Projects
  • 2.18.1 Stair-Climbing Robot
  • 2.18.2 A 3-DOF Robot
  • 2.18.3 A 3-DOF Mobile Robot
  • 2.19 Summary
  • References
  • Problems
  • Chapter 3 Robot Kinematics with Screw-Based Mechanics
  • 3.1 Introduction
  • 3.2 What Is a Screw?
  • 3.3 Rotation about a Screw Axis
  • 3.4 Homogenous Transformations about a General Screw Axis
  • 3.5 Successive Screw-Based Transformations
  • 3.6 Forward and Inverse Position Analysis of an Articulated Robot
  • 3.7 Design Projects
  • 3.8 Summary
  • Additional Reading

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