Introduction to robotics analysis, control, applications

Cover
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
	Problems
Chapter 4 Kinematics Analysis of Parallel Robots
	4.1 Introduction
	4.2 Physical Characteristics of Parallel Robots
	4.3 The Denavit-Hartenberg Approach vs. the Direct Kinematic Approach
	4.4 Forward and Inverse Kinematics of Planar Parallel Robots
		4.4.1 Kinematic Analysis of a 3-RPR Planar Parallel Robot
		4.4.2 Kinematic Analysis of a 3-RRR Planar Parallel Robot
	4.5 Forward and Inverse Kinematics of Spatial Parallel Robots
		4.5.1 Kinematic Analysis of a Generic 6-6 Stewart-Gough Platform
		4.5.2 Kinematic Analysis of a Generic 6-3 Stewart-Gough Platform
		4.5.3 Kinematic Analysis of a 3-Axis RSS-Type Parallel Robot
		4.5.4 Kinematic Analysis of a 4-Axis RSS-Type Parallel Robot
		4.5.5 Kinematic Analysis of a 3-Axis PSS-Type Parallel Robot
	4.6 Other Parallel Robot Configurations
	4.7 Design Projects
	4.8 Summary
	References
	Problems
Chapter 5 Differential Motions and Velocities
	5.1 Introduction
	5.2 Differential Relationships
	5.3 The Jacobian
	5.4 Differential versus Large-Scale Motions
	5.5 Differential Motions of a Frame versus a Robot
	5.6 Differential Motions of a Frame
		5.6.1 Differential Translations
		5.6.2 Differential Rotations about Reference Axes
		5.6.3 Differential Rotation about a General Axis q
		5.6.4 Differential Transformations of a Frame
	5.7 Interpretation of the Differential Change
	5.8 Differential Changes between Frames
	5.9 Differential Motions of a Robot and Its Hand Frame
	5.10 Calculation of the Jacobian
	5.11 How to Relate the Jacobian and the Differential Operator
	5.12 The Inverse Jacobian
	5.13 Calculation of the Jacobian with Screw-Based Mechanics
	5.14 The Inverse Jacobian for the Screw-Based Method
	5.15 Calculation of the Jacobians of Parallel Robots
		5.15.1 The Jacobian of a Planar 3-RRR Parallel Robot
		5.15.2 The Jacobian of a Generic 6-6 Stewart-Gough Parallel Robot
	5.16 Design Projects
		5.16.1 The 3-DOF Robot
		5.16.2 The 3-DOF Mobile Robot
	5.17 Summary
	References
	Problems
Chapter 6 Dynamic and Force Analysis
	6.1 Introduction
	6.2 Lagrangian Mechanics: A Short Overview
	6.3 Effective Moments of Inertia
	6.4 Dynamic Equations for Multiple-DOF Robots
		6.4.1 Kinetic Energy
		6.4.2 Potential Energy
		6.4.3 The Lagrangian
		6.4.4 Robot's Equations of Motion
	6.5 Static Force Analysis of Robots
	6.6 Transformation of Forces and Moments between Coordinate Frames
	6.7 Design Project
	6.8 Summary
	References
	Problems
Chapter 7 Trajectory Planning
	7.1 Introduction
	7.2 Path vs. Trajectory
	7.3 Joint-Space vs. Cartesian-Space Descriptions
	7.4 Basics of Trajectory Planning
	7.5 Joint-Space Trajectory Planning
		7.5.1 Third-Order Polynomial Trajectory Planning
		7.5.2 Fifth-Order Polynomial Trajectory Planning
		7.5.3 Linear Segments with Parabolic Blends
		7.5.4 Linear Segments with Parabolic Blends and Via Points
		7.5.5 Higher-Order Trajectories
		7.5.6 Other Trajectories
	7.6 Cartesian-Space Trajectories
	7.7 Continuous Trajectory Recording
	7.8 Design Project
	7.9 Summary
	References
	Problems
Chapter 8 Motion Control Systems
	8.1 Introduction
	8.2 Basic Components and Terminology
	8.3 Block Diagrams
	8.4 System Dynamics
	8.5 Laplace Transform
	8.6 Inverse Laplace Transform
		8.6.1 Partial Fraction Expansion When F(s) Involves Only Distinct Poles
		8.6.2 Partial Fraction Expansion When F(s) Involves Repeated Poles
		8.6.3 Partial Fraction Expansion When F(s) Involves Complex Conjugate Poles
	8.7 Transfer Functions
	8.8 Block Diagram Algebra
	8.9 Characteristics of First-Order Transfer Functions
	8.10 Characteristics of Second-Order Transfer Functions
	8.11 Characteristic Equation: Pole/Zero Mapping
	8.12 Steady-State Error
	8.13 Root Locus Method
	8.14 Proportional Controllers
	8.15 Proportional-Plus-Integral Controllers
	8.16 Proportional-Plus-Derivative Controllers
	8.17 Proportional-Integral-Derivative Controller (PID)
	8.18 Lead and Lag Compensators
	8.19 Bode Diagram and Frequency-Domain Analysis
	8.20 Open-Loop vs. Closed-Loop Applications
	8.21 Multiple-Input and Multiple-Output Systems
	8.22 State-Space Control Methodology
	8.23 Digital Control
	8.24 Nonlinear Control Systems
	8.25 Electromechanical Systems Dynamics: Robot Actuation and Control
	8.26 Design Projects
	8.27 Summary
	References
	Problems
Chapter 9 Actuators and Drive Systems
	9.1 Introduction
	9.2 Characteristics of Actuating Systems
		9.2.1 Nominal Characteristics – Weight, Power-to-Weight Ratio, Operating Pressure, Voltage, and Others
		9.2.2 Stiffness vs. Compliance
		9.2.3 Use of Reduction Gears
	9.3 Comparison of Actuating Systems
	9.4 Hydraulic Actuators
	9.5 Pneumatic Devices
	9.6 Electric Motors
		9.6.1 Fundamental Differences Between AC- and DC-Type Motors
		9.6.2 DC Motors
		9.6.3 AC Motors
		9.6.4 Brushless DC Motors
		9.6.5 Direct-Drive Electric Motors
		9.6.6 Servomotors
		9.6.7 Stepper Motors
	9.7 Microprocessor Control of Electric Motors
		9.7.1 Pulse Width Modulation
		9.7.2 Direction Control of DC Motors with an H-Bridge
	9.8 Magnetostrictive Actuators
	9.9 Shape-Memory Type Metals
	9.10 Electroactive Polymer Actuators (EAPs)
	9.11 Speed Reduction
	9.12 Other Systems
	9.13 Design Projects
	9.14 Summary
	References
	Problems
Chapter 10 Sensors
	10.1 Introduction
	10.2 Sensor Characteristics
	10.3 Sensor Utilization
	10.4 Position Sensors
		10.4.1 Potentiometers
		10.4.2 Encoders
		10.4.3 Linear Variable Differential Transformer (LVDT)
		10.4.4 Resolvers
		10.4.5 (Linear) Magnetostrictive Displacement Transducer (LMDT or MDT)
		10.4.6 Hall-effect Sensors
		10.4.7 Global Positioning System (GPS)
		10.4.8 Other Devices
	10.5 Velocity Sensors
		10.5.1 Encoders
		10.5.2 Tachometers
		10.5.3 Differentiation of Position Signal
	10.6 Acceleration Sensors
	10.7 Force and Pressure Sensors
		10.7.1 Piezoelectric
		10.7.2 Force-Sensing Resistor
		10.7.3 Strain Gauge
		10.7.4 Antistatic Foam
	10.8 Torque Sensors
	10.9 Microswitches
	10.10 Visible Light and Infrared Sensors
	10.11 Touch and Tactile Sensors
	10.12 Proximity Sensors
		10.12.1 Magnetic Proximity Sensors
		10.12.2 Optical Proximity Sensors
		10.12.3 Ultrasonic Proximity Sensors
		10.12.4 Inductive Proximity Sensors
		10.12.5 Capacitive Proximity Sensors
		10.12.6 Eddy Current Proximity Sensors
	10.13 Range Finders
		10.13.1 Ultrasonic Range Finders
		10.13.2 Light-Based Range Finders
	10.14 Sniff Sensors
	10.15 Vision Systems
	10.16 Voice-Recognition Devices
	10.17 Voice Synthesizers
	10.18 Remote Center Compliance (RCC) Device
	10.19 Design Project
	10.20 Summary
	References
Chapter 11 Image Processing and Analysis with Vision Systems
	11.1 Introduction
	11.2 Basic Concepts
		11.2.1 Image Processing vs. Image Analysis
		11.2.2 Two- and Three-Dimensional Image Types
		11.2.3 The Nature of an Image
		11.2.4 Acquisition of Images
		11.2.5 Digital Images
		11.2.6 Frequency Domain vs. Spatial Domain
	11.3 Fourier Transform and Frequency Content of a Signal
	11.4 Frequency Content of an Image: Noise and Edges
	11.5 Resolution and Quantization
	11.6 Sampling Theorem
	11.7 Image-Processing Techniques
	11.8 Histograms of Images
	11.9 Thresholding
	11.10 Spatial Domain Operations: Convolution Mask
	11.11 Connectivity
	11.12 Noise Reduction
		11.12.1 Neighborhood Averaging with Convolution Masks
		11.12.2 Image Averaging
		11.12.3 Frequency Domain
		11.12.4 Median Filters
	11.13 Edge Detection
	11.14 Sharpening an Image
	11.15 Hough Transform
	11.16 Segmentation
	11.17 Segmentation by Region Growing and Region Splitting
	11.18 Binary Morphology Operations
		11.18.1 Thickening Operation
		11.18.2 Dilation
		11.18.3 Erosion
		11.18.4 Skeletonization
		11.18.5 Open Operation
		11.18.6 Close Operation
		11.18.7 Fill Operation
	11.19 Gray Morphology Operations
		11.19.1 Erosion
		11.19.2 Dilation
	11.20 Image Analysis
	11.21 Object Recognition by Features
		11.21.1 Basic Features Used for Object Identification
		11.21.2 Moments
		11.21.3 Template Matching
		11.21.4 Discrete Fourier Descriptors
		11.21.5 Computed Tomography (CT)
	11.22 Depth Measurement with Vision Systems
		11.22.1 Scene Analysis vs. Mapping
		11.22.2 Range Detection and Depth Analysis
		11.22.3 Stereo Imaging
		11.22.4 Scene Analysis with Shading and Sizes
	11.23 Specialized Lighting
	11.24 Image Data Compression
		11.24.1 Intraframe Spatial Domain Techniques
		11.24.2 Interframe Coding
		11.24.3 Compression Techniques
	11.25 Color Images
	11.26 Heuristics
	11.27 Applications of Vision Systems
	11.28 Design Project
	11.29 Summary
	References
	Problems
Chapter 12 Fuzzy Logic Control
	12.1 Introduction
	12.2 Fuzzy Control: What Is Needed
	12.3 Crisp Values vs. Fuzzy Values
	12.4 Fuzzy Sets: Degrees of Truth and Membership
	12.5 Fuzzification
	12.6 Fuzzy Inference Rules
	12.7 Defuzzification
		12.7.1 Center of Gravity Method
		12.7.2 Mamdani Inference Method
	12.8 Simulation of a Fuzzy Logic Controller
	12.9 Applications of Fuzzy Logic in Robotics
	12.10 Design Project
	12.11 Summary
	References
	Problems
Appendix A
	A.1 Matrix Algebra and Notation: A Review
	A.2 Calculation of an Angle from its Sine, Cosine, or Tangent
	A.3 Solving Equations with Sine and Cosine
	Problems
Appendix B
	Image-Acquisition Systems
Index
EULA