Introduction to Robotics

Introduction to Robotics by Miomir Vukobratovic.

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Bibliographic Details
Main Author: Vukobratovic, Miomir (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 1989.
Edition:1st ed. 1989.
Series:Springer eBook Collection.
Subjects:
Control engineering.
Robotics.
Mechatronics.
Mechanics.
Engineering design.
Manufactures.
Electronics.
Microelectronics.
Computer hardware.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 1 General Introduction to Robots
  • 1.1 Dedication and Classification of Robotic Systems
  • 1.2 General Features of Robotic Mechanisms and their Classification
  • References
  • 2 Manipulator Kinematic Model
  • 2.1 Introduction
  • 2.2 Definitions
  • 2.3 Direct Kinematic Problem
  • 2.4 Inverse Kinematic Problem
  • 2.5 Manipulator Path Generation
  • 2.6 Conclusion
  • References
  • 3 Dynamics and Dynamic Analysis of Manipulation Robots
  • 3.1 Introduction
  • 3.2 Mathematical Model of Manipulation Robot Dynamics
  • 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact
  • 3.4 Dynamics of Robots Under Action of External Reaction Forces
  • References
  • 4 Control of Robots
  • 4.1 Hierarchical Control of Robots
  • 4.2 Control of a Single Joint of a Robot
  • 4.3 Control of Simultaneous Motion of Several Robot Joints
  • 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots
  • 4.5 Control of Robots in Assembly Tasks
  • References
  • 5 Microprocessor Implementation of Control Algorithms
  • 5.1 Introduction
  • 5.2 Basic Subsystems of Modern Robot Controllers
  • 5.3 Program Modules
  • 5.4 Conclusion
  • References
  • 6 Industrial Robot Programming Systems
  • 6.1 Introduction
  • 6.2 Describing the Motion
  • 6.3 Sensory Data Processing
  • 6.4 Synchronization
  • 6.5 Implementations of Robot Programming Systems
  • 6.6 Robot Programming Examples
  • 6.7 Additional Reading
  • References
  • 7 Sensors in Robotics
  • 7.1 Positional Sensors
  • 7.2 Environment Sensors
  • 7.3 Robot Vision
  • References
  • 8 Elements, Structures and Application of Industrial Robots
  • 8.1 Basic Postulates of Industrial Robot Design
  • 8.2 Design Solutions of Main Robot Sub-assemblies
  • 8.3 Examples of Industrial Robot Applications
  • References
  • 9 Robotics and Flexible Automation Systems
  • 9.1 Introduction
  • 9.2 Functional Structure of Flexible Automation Systems
  • 9.3 Control of Flexible Automation Systems
  • 9.4. Hardware and Software Requirements for FAS
  • References
  • Appendix A.9 Coloured Petri Nets
  • A.9.1 General Notions on Petri Nets
  • A.9.2 Execution Rules of Petri Nets
  • A.9.3 Non-primitive Coloured Petri Nets
  • A.9.4 Normalized Coloured Petri Nets
  • References.

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