Fundamentals of robotics : manipulators, wheeled and legged robots / Dilip K. Pratihar
- Author:
- Pratihar, Dilip Kumar
- Published:
- Oxford : Alpha Science International Ltd., [2017]
- Copyright Date:
- ©2017
- Physical Description:
- xiv, 181 pages : illustrations ; 25 cm
- Contents:
- Machine generated contents note: 1.Introduction -- 1.1.Definitions -- 1.1.1.Three Hs in Robotics -- 1.2.Motivation -- 1.3.History ofRobotics -- 1.4.Components ofA Robotic System -- 1.5.Interdisciplinary Areas -- 1.6.Connectivity/Dof ofA Joint -- 1.6.1.Joints With One Dof -- 1.6.2.Joints With Two Dof -- 1.6.3.Joint With Three Dof -- 1.6.4.Representation of The Joints -- 1.7.Degrees of Freedom of A System -- 1.7.1.Mobility/Dof of Spatial Manipulator -- 1.7.2.Mobility/Dof of Planar Manipulator -- 1.8.Classifications of Robots -- 1.8.1.Based On The Type of Tasks Performed -- 1.8.2.Based On The Type of Controllers -- 1.8.3.Based On Configuration (Coordinate System) of The Robot -- 1.8.4.Based On Mobility Levels -- 1.9.Workspace of Manipulators -- 1.9.1.Workspace of Cartesian Coordinate Robot -- 1.9.2.Workspace of Cylindrical Coordinate Robot -- 1.9.3.Workspace of Spherical Coordinate Robot -- 1.9.4.Workspace of Revolute Coordinate Robot -- 1.10.Robot End-Effectors -- 1.10.1.Classification of Grippers -- 1.10.2.A Few Robotic Grippers -- 1.11.Resolution, Accuracy And Repeatability of A Robot -- 1.11.1.Resolution -- 1.11.2.Accuracy -- 1.11.3.Repeatability -- 1.12.Applications of Robots -- 1.12.1.In Manufacturing Units -- 1.12.2.Under-Water Applications -- 1.12.3.Medical Applications -- 1.12.4.Space Applications -- 1.13.Robot Teaching -- 1.14.Specifications of A Robot -- 1.15.Economic Analysis -- 1.16.Summary -- 1.17.Exercise -- 2.Fundamentals of Robot Kinematics -- 2.1.Representation of An Object in 3 -- D Space -- 2.1.1.Representation of The Position -- 2.1.2.Representation of The Orientation -- 2.2.Frame Transformations -- 2.2.1.Translation of A Frame -- 2.2.2.Rotation of A Frame -- 2.2.3.Translation And Rotation of A Frame -- 2.2.4.Translation Operator -- 2.2.5.Rotation Operator -- 2.3.Frame Sketching -- 2.4.Composite Rotation Matrix -- 2.5.Representation of A Frame With Respect To Reference Frame in Other Systems -- 2.5.1.Representation of Position in Cylindrical Coordinate System -- 2.5.2.Representation of Position in Spherical Coordinate System -- 2.5.3.Representation of Orientation Using Roll, Pitch And Yaw Angles -- 2.5.4.Representation of Orientation Using Euler Angles -- 2.6.Denavit-Hartenberg Notations -- 2.6.1.Link And Joint Parameters -- 2.6.2.Rules For Coordinate Assignment -- 2.7.Forward And Inverse Kinematics -- 2.8.Velocity Analysis -- 2.9.Summary -- 2.10.Exercise -- 3.Trajectory Planning -- 3.1.Introduction -- 3.2.Some Trajectory Functions -- 3.2.1.Polynomial Functions -- 3.2.2.Linear Trajectory Function -- 3.3.Summary -- 3.4.Exercise -- 4.Robot Dynamics -- 4.1.Inverse Vs. Forward Dynamics -- 4.2.Introduction -- 4.2.1.Determination of Inertia Tensor -- 4.3.Determination of Joint Torques -- 4.3.1.Lagrange-Euler Formulation -- 4.4.Control of A Robotic Joint -- 4.5.Summary -- 4.6.Exercise -- 5.Analysis of Wheeled Robots -- 5.1.Introduction -- 5.2.Analysis of A Two-Wheeled Car-Like Robot -- 5.2.1.Derivation of Model Equations -- 5.2.2.Constraints -- 5.3.Summary -- 5.4.Exercise -- 6.Analysis of Two-Legged Robots -- 6.1.Introduction -- 6.2.Analysis of Biped Locomotion -- 6.2.1.Analysis of Single Support Phase (Ssp) -- 6.2.2.Analysis of Double Support Phase -- 6.3.Summary -- 6.4.Exercise -- 7.Sensors -- 7.1.Intelligent Autonomous Robots -- 7.2.Introduction To Sensors -- 7.3.Classification of Sensors -- 7.4.Characteristics of Sensors -- 7.5.Various Sensors -- 7.5.1.Touch Sensor -- 7.5.2.Potentiometer -- 7.5.3.Optical Encoders -- 7.5.4.Linear Variable Differential Transformer -- 7.5.5.Force/Moment Sensor -- 7.5.6.Range Sensor -- 7.5.7.Proximity Sensors -- 7.6.Summary -- 7.7.Exercise -- 8.Robot Vision -- 8.1.Introduction -- 8.2.Steps To Be Followed -- 8.3.Summary -- 8.4.Exercise -- 9.Robot Motion Planning -- 9.1.Introduction -- 9.2.Motion Planning Schemes -- 9.2.1.Graph-Based Methods -- 9.2.2.Analytical Approaches -- 9.3.Studies On Computational Complexity -- 9.4.Drawbacks of The Traditional Methods of Robot Motion Planning -- 9.5.Summary -- 9.6.Exercise.
- Subject(s):
- ISBN:
- 1783322853 hardback
9781783322855 hardback - Bibliography Note:
- Includes bibliographical references (pages [175]-177) and index.
- Source of Acquisition:
- Purchased with funds from the J. Harvey Fahnestock Endowment for Scientific, Engineering and Rare Books; 2016
- Endowment Note:
- J. Harvey Fahnestock Endowment for Scientific, Engineering and Rare Books
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