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Robotforum.ir • مشاهده مبحث - Introduction to Robotics: Analysis, Control, Applications

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 موضوع پست: Introduction to Robotics: Analysis, Control, Applications
پستارسال شده در: شنبه 23 بهمن 1389, 9:49 pm 
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تاريخ عضويت: پنج شنبه 8 مهر 1383, 1:01 am
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Now in its second edition, Introduction to Robotics is intended for senior and introductory graduate courses in robotics.

Designed to meet the needs of different readers, this book covers a fair amount of mechanics and kinematics, including manipulator kinematics, differential motions, robot dynamics, and trajectory planning. It also covers microprocessor applications, control systems, vision systems, sensors, and actuators, making the book useful to mechanical engineers, electronic and electrical engineers, computer engineers and engineering technologists. A chapter on controls presents enough material to make the understanding of robotic controls and design accessible to those who have yet to take a course in control systems.

Publisher: John Wiley

For more information please click on:
http://www.researchandmarkets.com/produ ... is_control

Title Index:

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.
2.5 Homogeneous Transformation Matrices.
2.6 Representation of Transformations.
2.7 Inverse of Transformation Matrices.
2.8 Forward and Inverse Kinematics of Robots.
2.9 Forward and Inverse Kinematic Equations: Position.
2.10 Forward and Inverse Kinematic Equations: Orientation.
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.
2.14 Inverse Kinematic Programming of Robots.
2.15 Degeneracy and Dexterity.
2.16 The Fundamental Problem with the Denavit-Hartenberg Representation.
2.17 Design Projects.
Summary.
References.
Problems.

Chapter 3 Differential Motions and Velocities.
3.1 Introduction.
3.2 Differential Relationships.
3.3 Jacobian.
3.4 Differential versus Large-Scale Motions.
3.5 Differential Motions of a Frame versus a Robot.
3.6 Differential Motions of a Frame.
3.7 Interpretation of the Differential Change.
3.8 Differential Changes between Frames.
3.9 Differential Motions of a Robot and Its Hand Frame.
3.10 Calculation of the Jacobian.
3.11 How to Relate the Jacobian and the Differential Operator.
3.12 Inverse Jacobian.
3.13 Design Projects.
Summary.
References.
Problems.

Chapter 4 Dynamic Analysis and Forces.
4.1 Introduction.
4.2 Lagrangian Mechanics: A Short Overview.
4.3 Effective Moments of Inertia.
4.4 Dynamic Equations for Multiple-DOF Robots.
4.5 Static Force Analysis of Robots.
4.6 Transformation of Forces and Moments between Coordinate Frames.
4.7 Design Project.
Summary.
References.
Problems.

Chapter 5 Trajectory Planning.
5.1 Introduction.
5.2 Path versus Trajectory.
5.3 Joint-Space versus Cartesian-Space Descriptions.
5.4 Basics of Trajectory Planning.
5.5 Joint-Space Trajectory Planning.
5.6 Cartesian-Space Trajectories.
5.7 Continuous Trajectory Recording.
5.8 Design Project.
Summary.
References.
Problems.

Chapter 6 Motion Control Systems.
6.1 Introduction.
6.2 Basic Components and Terminology.
6.3 Block Diagrams.
6.4 System Dynamics.
6.5 The Laplace Transform.
6.6 Inverse Laplace Transform.
6.7 Transfer Function.
6.8 Block Diagram Algebra.
6.9 Characteristics of First-Order Transfer Functions.
6.10 Characteristics of Second-Order Transfer Functions.
6.11 Characteristic Equation: Pole/Zero Mapping.
6.12 Steady-State Error.
6.13 Root Locus Method.
6.14 Proportional Controllers.
6.15 Proportional-plus-Integral Controllers.
6.16 Proportional-plus-Derivative Controllers.
6.17 Proportional-Integral-Derivative Controller (PID).
6.18 Lead and Lag Compensators.
6.19 The Bode Diagram and Frequency Domain Analysis.
6.20 Open-Loop versus Closed-Loop Applications.
6.21 Multiple-Input and Multiple-Output Systems.
6.22 State-Space Control Methodology.
6.23 Digital Control
6.24 Nonlinear Control Systems.
6.25 Electromechanical Systems Dynamics: Robot Actuation and Control.
6.26 Design Projects.
Summary.
References.
Problems.

Chapter 7 Actuators and Drive Systems.
7.1 Introduction.
7.2 Characteristics of Actuating Systems.
7.3 Comparison of Actuating Systems.
7.4 Hydraulic Actuators.
7.5 Pneumatic Devices.
7.6 Electric Motors.
7.7 Microprocessor Control of Electric Motors.
7.8 Magnetostrictive Actuators.
7.9 Shape-Memory Type Metals.
7.10 Electroactive Polymer Actuators (EAP).
7.11 Speed Reduction.
7.12 Other Systems.
7.13 Design Projects.
Summary.
References.
Problems.

Chapter 8 Sensors.
8.1 Introduction.
8.2 Sensor Characteristics.
8.3 Sensor Utilization.
8.4 Position Sensors.
8.5 Velocity Sensors.
8.6 Acceleration Sensors.
8.7 Force and Pressure Sensors.
8.8 Torque Sensors.
8.9 Microswitches.
8.10 Visible Light and Infrared Sensors.
8.11 Touch and Tactile Sensors.
8.12 Proximity Sensors.
8.13 Range Finders.
8.14 Sniff Sensors.
8.15 Taste Sensors.
8.16 Vision Systems.
8.17 Voice Recognition Devices.
8.18 Voice Synthesizers.
8.19 Remote Center Compliance (RCC) Device.
8.20 Design Project.
Summary.
References.

Chapter 9 Image Processing and Analysis with Vision Systems.
9.1 Introduction.
9.2 Basic Concepts.
9.3 Fourier Transform and Frequency Content of a Signal.
9.4 Frequency Content of an Image; Noise, Edges.
9.5 Resolution and Quantization.
9.6 Sampling Theorem.
9.7 Image-Processing Techniques.
9.8 Histogram of Images.
9.9 Thresholding.
9.10 Spatial Domain Operations: Convolution Mask.
9.11 Connectivity.
9.12 Noise Reduction.
9.13 Edge Detection.
9.14 Sharpening an Image.
9.15 Hough Transform.
9.16 Segmentation.
9.17 Segmentation by Region Growing and Region Splitting.
9.18 Binary Morphology Operations.
9.19 Gray Morphology Operations.
9.20 Image Analysis.
9.21 Object Recognition by Features.
9.22 Depth Measurement with Vision Systems.
9.23 Specialized Lighting.
9.24 Image Data Compression.
9.25 Color Images.
9.26 Heuristics.
9.27 Applications of Vision Systems.
9.28 Design Project.
Summary.
References.
Problems.

Chapter 10 Fuzzy Logic Control.
10.1 Introduction.
10.2 Fuzzy Control: What Is Needed.
10.3 Crisp Values versus Fuzzy Values.
10.4 Fuzzy Sets: Degrees of Membership and Truth.
10.5 Fuzzification.
10.6 Fuzzy Inference Rule Base.
10.7 Defuzzification.
10.8 Simulation of Fuzzy Logic Controller.
10.9 Applications of Fuzzy Logic in Robotics.
10.10 Design Project.
Summary.
References.
Problems.


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Hard Copy : EUR 52


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