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Introduction to Robotics: Analysis, Control, Applications, 3/Ed (Hardcover)

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2013년 9월 9일 이후 누적수치입니다.

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    목차

    Chapter One 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

    Summary

    References

    Problems

    Chapter Two 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 Rotating 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

    Summary

    References

    Problems

    Chapter Three 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

    Summary

    Additional Reading

    Problems

    Chapter Four Kinematics Analysis of Parallel Robots

    4.1. Introduction

    4.2. Physical Characteristics of Parallel Robots

    4.3. Denavit-Hartenberg Approach versus 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

    Summary

    References

    Problems

    Chapter Five Differential Motions and Velocities

    5.1. Introduction

    5.2. Differential Relationships

    5.3. 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. Inverse Jacobian

    5.13 Calculation of Jacobian with Screw-Based Mechanics

    5.14. Inverse Jacobian for Screw-Based Method

    5.15 Calculation of Jacobians of Parallel Robots

    5.15.1. Jacobian of a Planar 3-RRR Parallel Robot

    5.15.2. Jacobian of a Generic 6-6 Stewart-Gough Parallel Robot

    5.16. Design Projects

    Summary

    References

    Problems

    Chapter Six 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

    Summary

    References

    Problems

    Chapter Seven Trajectory Planning

    7.1. Introduction

    7.2. Path versus. Trajectory

    7.3. Joint-Space versus. 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

    Summary

    References

    Problems

    Chapter Eight 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 Function

    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 versus Closed-Loop Applications

    8.21. Multiple-Input and Multiple-Output Systems

    8.22. State–Space Control Methodology

    8.23. Digital Control

    8.24. Non-Linear Control Systems

    8.25. Electro-Mechanical Systems Dynamics: Robot Actuation and Control

    8.26. Design Projects

    Summary

    References

    Problems

    Chapter Nine Actuators and Drive Systems

    9.1. Introduction

    9.2. Characteristics of Actuating Systems

    9.2.1. Nominal Characteristics

    9.2.2. Stiffness versus 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 (EAP)

    9.11. Speed Reduction

    9.12. Other Systems

    9.13. Design Projects

    Summary

    References

    Problems

    Chapter Ten 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 Transducers

    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. Anti-static 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

    Summary

    References

    Chapter Eleven Image Processing and Analysis with Vision Systems

    11.1. Introduction

    11.2. Basic Concepts

    11.2.1. Image Processing versus 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 versus Spatial Domain

    11.3. Fourier Transform and Frequency Content of a Signal

    11.4. Frequency Content of an Image; Noise, Edges

    11.5. Resolution and Quantization

    11.6. Sampling Theorem

    11.7. Image-Processing Techniques

    11.8. Histogram 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 versus 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

    Summary

    References

    Problems

    Chapter Twelve Fuzzy Logic Control

    12.1. Introduction

    12.2. Fuzzy Control: What is Needed

    12.3. Crisp Values versus 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's Inference Method

    12.8. Simulation of Fuzzy Logic Controller

    12.9. Applications of Fuzzy Logic in Robotics

    12.10. Design Project

    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

    Appendix B

    Image Acquisition Systems

    책소개

    The revised text to the analysis, control, and applications of robotics

    The revised and updated third edition of Introduction to Robotics: Analysis, Control, Applications, offers a guide to the fundamentals of robotics, robot components and subsystems and applications. The author—a noted expert on the topic—covers the mechanics and kinematics of serial and parallel robots, both with the Denavit-Hartenberg approach as well as screw-based mechanics. In addition, the text contains information on microprocessor applications, control systems, vision systems, sensors, and actuators.

    Introduction to Robotics gives engineering students and practicing engineers the information needed to design a robot, to integrate a robot in appropriate applications, or to analyze a robot. The updated third edition contains many new subjects and the content has been streamlined throughout the text. The new edition includes two completely new chapters on screw-based mechanics and parallel robots. The book is filled with many new illustrative examples and includes homework problems designed to enhance learning. This important text:
    Offers a revised and updated guide to the fundamental of robotics
    Contains information on robot components, robot characteristics, robot languages, and robotic applications
    Covers the kinematics of serial robots with Denavit-Hartenberg methodology and screw-based mechanics
    Includes the fundamentals of control engineering, including analysis and design tools
    Discusses kinematics of parallel robots

    Written for students of engineering as well as practicing engineers, Introduction to Robotics, Third Edition reviews the basics of robotics, robot components and subsystems, applications, and has been revised to include the most recent developments in the field.





    New feature

    The revised text to the analysis, control, and applications of robotics

    The revised and updated third edition of Introduction to Robotics: Analysis, Control, Applications, offers a guide to the fundamentals of robotics, robot components and subsystems and applications. The author—a noted expert on the topic—covers the mechanics and kinematics of serial and parallel robots, both with the Denavit-Hartenberg approach as well as screw-based mechanics. In addition, the text contains information on microprocessor applications, control systems, vision systems, sensors, and actuators.

    Introduction to Robotics gives engineering students and practicing engineers the information needed to design a robot, to integrate a robot in appropriate applications, or to analyze a robot. The updated third edition contains many new subjects and the content has been streamlined throughout the text. The new edition includes two completely new chapters on screw-based mechanics and parallel robots. The book is filled with many new illustrative examples and includes homework problems designed to enhance learning. This important text:
    Offers a revised and updated guide to the fundamental of robotics
    Contains information on robot components, robot characteristics, robot languages, and robotic applications
    Covers the kinematics of serial robots with Denavit-Hartenberg methodology and screw-based mechanics
    Includes the fundamentals of control engineering, including analysis and design tools
    Discusses kinematics of parallel robots

    Written for students of engineering as well as practicing engineers, Introduction to Robotics, Third Edition reviews the basics of robotics, robot components and subsystems, applications, and has been revised to include the most recent developments in the field.

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