Theory of applied robotics : kinematics, dynamics, and control

Preface to the Third Edition
	Organization of the Book
	Method of Presentation
	Level of the Book
	Prerequisites
	Unit System
	Symbols
Preface to the Second Edition
Preface to the First Edition
	Level of the Book
	Organization of the Book
	Method of Presentation
How to Use This Book
Contents
About the Author
1 Introduction
	1.1 Historical Development
	1.2 Robot Components
		1.2.1 Link
		1.2.2 Joint
		1.2.3 Manipulator
		1.2.4 Wrist
		1.2.5 End-Effector
		1.2.6 Actuators
		1.2.7 Sensors
		1.2.8 Controller
	1.3 Robot Classifications
		1.3.1 Geometry
		1.3.2 Workspace
		1.3.3 Actuation
		1.3.4 Control
		1.3.5 Application
	1.4 Robot's Kinematics, Dynamics, and Control
	1.5 Principle of Kinematics
		1.5.1  Triad
		1.5.2 Unit Vectors
		1.5.3 Orthogonality Condition
		1.5.4 Coordinate Frame and Transformation
		1.5.5  Vector Definition
		1.5.6 Vector Function
	1.6 Summary
	1.7 Key Symbols
	Exercises
	Exercises
Part I Kinematics
	2 Rotation Kinematics
		2.1 Rotation About Global Cartesian Axes
		2.2 Successive Rotation About Global Cartesian Axes
		2.3 Rotation About Local Cartesian Axes
		2.4 Successive Rotation About Local Cartesian Axes
		2.5 Euler Angles
		2.6 Local Axes Versus Global Axes Rotation
		2.7 General Transformation
		2.8  Active and Passive Transformation
		2.9 Summary
		2.10 Key Symbols
		Exercises
		Exercises
	3 Orientation Kinematics
		3.1 Axis–Angle Rotation
		3.2  Order-Free Rotation
		3.3  Euler Parameters
		3.4  Quaternions
		3.5  Spinors and Rotators
		3.6  Problems in Representing Rotations
			3.6.1  Rotation Matrix
			3.6.2  Axis–Angle
			3.6.3  Euler Angles
			3.6.4  Quaternion
			3.6.5  Euler Parameters
		3.7  Composition and Decomposition of Rotations
			3.7.1  Composition of Rotations
			3.7.2  Decomposition of Rotations
		3.8 Summary
		3.9 Key Symbols
		Exercises
		Exercises
	4 Motion Kinematics
		4.1 Rigid Body Motion
		4.2 Homogenous Transformation
		4.3 Inverse and Reverse Homogenous Transformation
		4.4 Combined Homogenous Transformation
		4.5  Order-Free Transformation
		4.6  Screw Coordinates
		4.7  Inverse Screw
		4.8  Combined Screw Transformation
		4.9  The Plücker Line Coordinate
		4.10  The Geometry of Plane and Line
			4.10.1  Moment
			4.10.2  Angle and Distance
			4.10.3  Plane and Line
		4.11  Screw and Plücker Coordinate
		4.12 Summary
		4.13 Key Symbols
		Exercises
		Exercises
	5 Forward Kinematics
		5.1 Denavit–Hartenberg Notation
		5.2 Transformation Between Adjacent Coordinate Frames
		5.3 Forward Position Kinematics of Robots
		5.4 Spherical Wrist
		5.5 Assembling Kinematics
		5.6  Coordinate Transformation Using Screws
		5.7  Non-Denavit–Hartenberg Methods
		5.8 Summary
		5.9 Key Symbols
		Exercises
		Exercises
	6 Inverse Kinematics
		6.1 Decoupling Technique
		6.2 Inverse Transformation Technique
		6.3  Iterative Technique
		6.4  Comparison of the Inverse Kinematics Techniques
			6.4.1  Existence and Uniqueness of Solution
			6.4.2  Inverse Kinematics Techniques
		6.5  Singular Configuration
		6.6 Summary
		6.7 Key Symbols
		Exercises
		Exercises
Part II Derivative Kinematics
	7 Angular Velocity
		7.1 Angular Velocity Vector and Matrix
		7.2  Time Derivative and Coordinate Frames
		7.3 Rigid Body Velocity
		7.4  Velocity Transformation Matrix
		7.5 Derivative of a Homogenous Transformation Matrix
		7.6 Summary
		7.7 Key Symbols
		Exercises
		Exercises
	8 Velocity Kinematics
		8.1  Rigid Link Velocity
		8.2 Forward Velocity Kinematics
		8.3 Jacobian Generating Vectors
		8.4 Inverse Velocity Kinematics
		8.5  Linear Algebraic Equations
		8.6 Matrix Inversion
		8.7 Nonlinear Algebraic Equations
		8.8  Jacobian Matrix From Link Transformation Matrices
		8.9 Summary
		8.10 Key Symbols
		Exercises
		Exercises
	9 Acceleration Kinematics
		9.1 Angular Acceleration Vector and Matrix
		9.2 Rigid Body Acceleration
		9.3  Acceleration Transformation Matrix
		9.4 Forward Acceleration Kinematics
		9.5 Inverse Acceleration Kinematics
		9.6  Rigid Link Recursive Acceleration
		9.7  Second Derivative and Coordinate Frames
		9.8 Summary
		9.9 Key Symbols
		Exercises
		Exercises
Part III Dynamics
	10 Applied Dynamics
		10.1 Force and Moment
			10.1.1 Force and Moment
			10.1.2 Momentum
			10.1.3 Equation of Motion
			10.1.4 Work and Energy
		10.2 Rigid Body Translational Kinetics
		10.3 Rigid Body Rotational Kinetics
		10.4 Mass Moment Matrix
		10.5 Lagrange's Form of Newton's Equations
		10.6 Lagrangian Mechanics
		10.7 Summary
		10.8 Key Symbols
		Exercises
		Exercises
	11 Robot Dynamics
		11.1 Rigid Link Newton–Euler Dynamics
		11.2  Recursive Newton–Euler Dynamics
		11.3 Robot Lagrange Dynamics
		11.4  Lagrange Equations and Link Transformation Matrices
		11.5 Robot Statics
		11.6 Summary
		11.7 Key Symbols
		Exercises
		Exercises
Part IV Control
	12 Path Planning
		12.1 Cubic Path
		12.2 Polynomial Path
		12.3  Non-polynomial Path Planning
		12.4  Spatial Path Design
		12.5 Forward Path Robot Motion
		12.6 Inverse Path Robot Motion
		12.7  Rotational Path
		12.8 Summary
		12.9 Key Symbols
		Exercises
		Exercises
	13  Time Optimal Control
		13.1  Minimum Time and Bang-Bang Control
		13.2  Floating Time Method
		13.3  Time Optimal Control for Robots
		13.4 Summary
		13.5 Key Symbols
		Exercises
		Exercises
	14 Control Techniques
		14.1 Open- and Closed-Loop Control
		14.2 Computed Torque Control
		14.3 Linear Control Technique
			14.3.1 Proportional Control
			14.3.2 Integral Control
			14.3.3 Derivative Control
		14.4 Sensing and Control
			14.4.1 Position Sensors
			14.4.2 Speed Sensors
			14.4.3 Acceleration Sensors
		14.5 Summary
		14.6 Key Symbols
		Exercises
		Exercises
A Global Frame Triple Rotation
B Local Frame Triple Rotation
C Principal Central Screws Triple Combination
D Industrial Link DH Matrices
E Matrix Calculus
F Trigonometric Formula
G Algebraic Formula
H Unit Conversions
Bibliography
	Front Matter
	Chapter 1: Introduction
	Chapter 2: Rotation Kinematics
	Chapter 3: Orientation Kinematics
	Chapter 4: Motion Kinematics
	Chapter 5: Forward Kinematics
	Chapter 6: Inverse Kinematics
	Chapter 7: Angular Velocity
	Chapter 8: Velocity Kinematics
	Chapter 9: Acceleration Kinematics
	Chapter 10: Applied Dynamics
	Chapter 11: Robot Dynamics
	Chapter 12: Path Planning
	Chapter 13: Time Optimal Control
	Chapter 14: Control Techniques
Index