Introduction To Robotics / Edition 2

Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned Table Of Contents: Preface. 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 Social Issues. Summary. References. Problems. Chapter 2 Kinematics of 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 Rotating Frame. 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 Artic