Introduction To Robotics

Description

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