Introduction to Robotics - Saeed B. Niku

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Auteur(s) : Saeed B. Niku

Editeur : John Wiley & Sons Inc

Langue : Anglais

Parution : 01/02/2020

Format : Moyen, de 350g à 1kg

Nombre de pages : 528

Expédition : 1533

Dimensions : 28.4 x 22.0 x 3.5

ISBN : 9781119527626

Résumé :

Introduction to Robotics: Analysis, Control, Applications, 3rd Edition

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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Biographie:

SAEED BENJAMIN NIKU, PhD, P.E., is a Professor of Mechanical Engineering at California Polytechnic State University, San Luis Obispo, California. He has taught courses in mechanics, robotics, design, and creativity.

Sommaire:

Preface xv

About the Companion Website xix

1 Fundamentals 1

1.1 Introduction 1

1.2 What Is a Robot? 2

1.3 Classification of Robots 3

1.4 What Is Robotics? 3

1.5 History of Robotics 3

1.6 Advantages and Disadvantages of Robots 4

1.7 Robot Components 5

1.8 Robot Degrees of Freedom 7

1.9 Robot Joints 9

1.10 Robot Coordinates 9

1.11 Robot Reference Frames 11

1.12 Programming Modes 12

1.13 Robot Characteristics 13

1.14 Robot Workspace 13

1.15 Robot Languages 14

1.16 Robot Applications 17

1.17 Other Robots and Applications 23

1.18 Collaborative Robots 28

1.19 Social Issues 29

1.20 Summary 30

2 Kinematics of Serial Robots: Position Analysis 35

2.1 Introduction 35

2.2 Robots as Mechanisms 35

2.3 Conventions 37

2.4 Matrix Representation 37

2.5 Homogeneous Transformation Matrices 45

2.6 Representation of Transformations 46

2.7 Inverse of Transformation Matrices 54

2.8 Forward and Inverse Kinematics of Robots 59

2.9 Forward and Inverse Kinematic Equations: Position 60

2.10 Forward and Inverse Kinematic Equations: Orientation 65

2.11 Forward and Inverse Kinematic Equations: Position and Orientation 70

2.12 Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots 70

2.13 The Inverse Kinematic Solution of Robots 84

2.14 Inverse Kinematic Programming of Robots 89

2.15 Dual-Arm Cooperating Robots 91

2.16 Degeneracy and Dexterity 92

2.16.1 Degeneracy 92

2.16.2 Dexterity 93

2.17 The Fundamental Problem with the Denavit-Hartenberg Representation 93

2.18 Design Projects 95

2.19 Summary 99

3 Robot Kinematics with Screw-Based Mechanics 111

3.1 Introduction 111

3.2 What Is a Screw? 111

3.3 Rotation about a Screw Axis 112

3.4 Homogenous Transformations about a General Screw Axis 115

3.5 Successive Screw-Based Transformations 119

3.6 Forward and Inverse Position Analysis of an Articulated Robot 120

3.7 Design Projects 127

3.8 Summary 127

4 Kinematics Analysis of Parallel Robots 133

4.1 Introduction 133

4.2 Physical Characteristics of Parallel Robots 134

4.3 The Denavit-Hartenberg Approach vs. the Direct Kinematic Approach 139

4.4 Forward and Inverse Kinematics of Planar Parallel Robots 140

4.5 Forward and Inverse Kinematics of Spatial Parallel Robots 147

4.6 Other Parallel Robot Configurations 169

4.7 Design Projects 169

4.8 Summary 170

5 Differential Motions and Velocities 173

5.1 Introduction 173

5.2 Differential Relationships 173

5.3 The Jacobian 174

5.4 Differential versus Large-Scale Motions 176

5.5 Differential Motions of a Frame versus a Robot 177

5.6 Differential Motions of a Frame 178

5.7 Interpretation of the Differential Change 182

5.8 Differential Changes between Frames 183

5.9 Differential Motions of a Robot and Its Hand Frame 185

5.10 Calculation of the Jacobian 185

5.11 How to Relate the Jacobian and the Differential Operator 188

5.12 The Inverse Jacobian 191

5.13 Calculation of the Jacobian with Screw-Based Mechanics 197

5.14 The Inverse Jacobian for the Screw-Based Method 206

5.15 Calculation of the Jacobians of Parallel Robots 206

5.16 Design Projects 210

5.17 Summary 210

6 Dynamic and Force Analysis 219

6.1 Introduction 219

6.2 Lagrangian Mechanics: A Short Overview 220

6.3 Effective Moments of Ine...