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Robotics and Automation Handbook
by: Thomas R Kurfess, Clemson University, South Carolina, USA
Topics include: virtual coupler, first camera frame, interaction calculator, real robot dynamics, generalized active forces, multiple mobile manipulators, kinesthetic interfaces, manipulator impedance, environmental impedance, regressor form, coordinated motion control, independent generalized speeds, generalized inertia forces, joint coordinate frames, constrained configuration space, partial velocities, impedance controller, exciting trajectory, partial angular velocities, input shapers, multiple manipulators, haptic interface, continuous control law, haptics research, input sensitivity functions
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Provides the basics of how a robot works
Targets issues related to determining the specifications and configurations for developing a robot
Discusses controls-including classical, multivariable, and optimal approaches-in terms of trajectory and input signals
Explains the means by which a robot senses and interacts with the environment around it
Presents the variety of operations robots can execute, such as welding, surgery, assembly and cleaning, and how design and fabrication are affected by job-related needs
Suggests fail-safe strategies to prevent robots from "crashing" as well as minimize damage possibilities
As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error.
The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system.
With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.
Table of Contents
The History of Robotics, Wesley L. Stone
Rigid-Body Kinematics, Gregorg S. Chirikjian
Inverse Kinematics, Bill Goodwine
Newton-Euler Dynamics of Robots, Mark L. Nagurka
Lagrangian Dynamics, Milo?s ? Zefran and Francesco Bullo
Kane's Method in Robotics, Keith W. Buffinton
The Dynamics of Systems of Interacting Rigid Bodies, Kenneth A. Loparo and Ioannis S. Vakalis
D-H Convention, Jaydev P. Desai
Trajectory Planning for Flexible Robots, William E. Singhose
Error Budgeting, Daniel D. Frey
Design of Robotic End Effectors, Hodge Jenkins
Sensors, Jeanne Sullivan Falcon
Precision Positioning of Rotary and Linear Systems, Stephen Ludwick
Modeling and Identification for Robot Motion Control, Dragan Kostic, Bram de Jager, and Maarten Steinbuch
Motion Control by Linear Feedback Methods, Dragan Kostic, Bram de Jager, and Maarten Steinbuch
Force/Impedance Control for Robotic Manipulators, Siddharth P. Nagarkatti and Darren M. Dawson
Robust and Adaptive Motion Control of Manipulators, Mark W. Spong
Sliding Mode Control of Robotic Manipulators, Hector M. Gutierrez
Impedance and Interaction Control, Neville Hogan and Stephen P. Buerger
Coordinated Motion Control of Multiple Manipulators, Kazuhiro Kosuge and Yasuhisa Hirata
Robot Simulation, Lonnie J. Love
Survey of Geometric Vision, Kun Huang and Yi Ma
Haptic Interface to Virtual Environments, R. Brent Gillespie
Flexible Robot Arms, Wayne J. Book
Robotics in Medical Applications, Chris A. Raanes and Mohan Bodduluri
Manufacturing Automation, Hodge Jenkins
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