Introduction To Robotics

Title
Contents
1. Introduction
	1.1 History
	1.2 Robots
	1.3 Robot Usage
	Summary
	Exercises
	Web-Based Exercises
2. Industrial Robots and Their Applications
	2.1 Robot Subsystems
	2.2 Classifi cation of Robots
	2.3 Industrial Applications
	Summary
	Exercises
	Web-Based Exercises
3. Actuators and Grippers
	3.1 Electric Actuators
	3.2 Hydraulic Actuators
	3.3 Pneumatic Actuators
	3.4 Selection of Motors
	3.5 Grippers
	Summary
	Exercises
	Web-Based Exercises
4. Sensors, Vision and Signal Conditioning
	4.1 Sensor Classifi cation
	4.2 Internal Sensors
	4.3 External Sensors
	4.4 Vision
	4.5 Signal Conditioning
	4.6 Sensor Selection
	Summary
	Exercises
	Web-Based Exercises
5. Transformations
	5.1 Robot Architecture
	5.2 Pose of a Rigid Body
	5.3 Coordinate Transformation
	5.4 Denavit and Hartenberg (DH) Parameters
	5.5 A Variant of DH Parameters
	5.6 DH Parametrization of Euler angles
	Summary
	Exercises
	MATLAB and RoboAnalyzer Based Exercises
6. Kinematics
	6.1 Forward Position Analysis
	6.2 Inverse Position Analysis
	6.3 Velocity Analysis: The Jacobian Matrix
	6.4 Link Velocities
	6.5 Jacobian Computation
	6.6 Jacobian Using the Decoupled Natural Orthogonal Complement (DeNOC)
	6.7 Forward and Inverse Velocity Analyses
	6.8 Acceleration Analysis
	Summary
	Exercises
	MATLAB and RoboAnalyzer Based Exercises
7. Statics and Manipulator Design
	7.1 Forces and Moments Balance
	7.2 Recursive Calculations
	7.3 Equivalent Joint Torques
	7.4 Role of Jacobian in Statics
	7.5 Manipulator Design
	7.6 Functional Requirements of a Robot
	7.7 Kinematic and Kinetostatic Measures
	7.8 Structural Measures
	7.9 Dynamics and Control Measures
	Summary
	Exercises
	MATLAB Based Exercises
8. Dynamics
	8.1 Inertia Properties
	8.2 Euler–Lagrange Formulation
	8.3 Newton—Euler Formulation
	8.4 Recursive Newton—Euler Algorithm
	8.5 Dynamic Algorithms
	Summary
	Exercises
	Web-Based Exercises
	MATLAB Based Exercises
	RoboAnalyzer Based Exercises
9. Recursive Robot Dynamics
	9.1 Dynamic Modeling
	9.2 Analytical Expressions
	9.3 Recursive Inverse Dynamics of RoboAnalyzer
	9.4 Recursive Forward Dynamics and Simulation
	Summary
	Exercises
10. Linear Control
	10.1 Control Techniques
	10.2 Dynamic Systems
	10.3 Transfer Function and State-Space Representation
	10.4 A Robotic Joint
	10.5 Performance and Stability of Feedback Control
	10.6 Proportional-Derivative-Integral (PID) Control of a Moving Block
	10.7 Selection of PID Controller Gains
	10.8 State-feedback Control
	10.9 Joint Controllers
	Summary
	Exercises
	MATLAB Based Exercises
11. Nonlinear and Force Controls
	11.1 Control of a Moving Block
	11.2 Multivariable Robot Control
	11.3 Stability of Multi-DOF Robot
	11.4 Linearized Control
	11.5 Proportional-Derivative (PD) Position Control
	11.6 Computed-torque (Inverse Dynamics) Control
	11.7 Feedforward Control
	11.8 Robust Control
	11.9 Adaptive Control
	11.10 Cartesian Control
	11.11 Force Control
	11.12 Hybrid Control
	Summary
	Exercises
	MATLAB Based Exercises
12. Motion Planning
	12.1 Joint Space Planning
	12.2 Cartesian Space Planning
	12.3 Path Primitives
	12.4 Cartesian Trajectories
	12.5 Point-to-Point vs. Continuous Path Planning
	Summary
	Exercises
	MATLAB Based Exercises
13. Control Hardware and Robot Programming
	13.1 Control Considerations
	13.2 Hardware Architecture
	13.3 Hardware for Joint Controllers
	13.4 Computational Speed
	13.5 Robot Languages
	13.6 Robot Programming
	Summary
	Exercises
	Web-Based Exercises
14. Student Projects
	14.1 Robotic Contests
	14.2 Hardware Developments
	14.3 Software Projects
	14.4 Commercial Products
	Summary
	Exercises
	Web-Based Exercises
Appendix A: Mathematical Fundamentals
	A.1 Function ‘Atan2’
	A.2 Vectors
	A.3 Matrices
	Summary
Appendix B: MATLAB with Allied Toolbox and Software
	B.1 Use of MATLAB
	B.2 MuPAD
	B.3 Simulink
	B.4 Robotics Toolbox
	B.5 Recursive Dynamics Simulator (ReDySim)
	Summary
Appendix C: Use of RoboAnalyzer
	C.1 Visualize Denavit-Hartenberg Parameters
	C.2 Forward Kinematics
	C.3 Inverse Kinematics
	C.4 Inverse Dynamics
	C.5 Forward Dynamics and Simulation
	C.6 Joint Trajectory
	C.7 Virtual Robot Module
	Summary
References
Index