Introduction to Robotics: Analysis, Control, Applications

Abstract

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