Key Features:

The book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators.

Detailed chapter on Velocity Transformations, jacobian and Singularities.

Trajectory Planning is developed using both joint space and Cartesian space methods.

Dynamic Modeling is treated by Lagrange-Euler and Euler-Newton formulations; complex derivations are put in the appendix to ensure a smooth flow for the reader.

A comprehensive chapter on Robotic Control covering control strategies like PD, PID, computed torque control, force and impedance control at an appropriate level.

A METLAB tutorial on using the package for Robotics is included as an appendix.

A full chapter on the industrial applications of robots.

All important industrial robot configurations with varying degrees of freedom are covered in various chapters and solved examples.

An elaborate chapter (Chapter 9) devoted to Robotic Sensors and Vision.

Includes over 50 solved examples and more than 270 simple-to-complex end-of-chapter exercises.

Appendix on the underlying maths ? Linear Algebra, Moment of Inertia Tensor and Equations of Motion.

Table of Content:




Chapter 1 Introduction to Robotics


Chapter 2 Coordinate Frames, Mapping and Transforms


Chapter 3 Symbolic Modeling of Robots ? Direct Kinematic Model


Chapter 4 The Inverse Kinematics


Chapter 5 Manipulator Differential Motion and Statics


Chapter 6 Dynamic Modeling


Chapter 7 Trajectory Planning


Chapter 8 Control of Manipulators


Chapter 9 Robotics Sensors and Vision


Chapter 10 Robot Applications



Appendix A :

Review of Linear Algebra and Trigonometry


Appendix B :

METLAB and SIMULINK


Appendix C :

Link Mass Distribution and the Moment of Inertia Tensor


Appendix D :

Derivation of Equations of Motion


Appendix E :

List of Symbols


Index

Table of Contents:
Chapter 1 Introduction to Robotics Chapter 2 Coordinate Frames, Mapping and Transforms Chapter 3 Symbolic Modeling of Robots ? Direct Kinematic Model Chapter 4 The Inverse Kinematics Chapter 5 Manipulator Differential Motion and Statics Chapter 6 Dynamic Modeling Chapter 7 Trajectory Planning Chapter 8 Control of Manipulators Chapter 9 Robotics Sensors and Vision Chapter 10 Robot Applications Appendix A : Review of Linear Algebra and Trigonometry Appendix B : METLAB and SIMULINK Appendix C : Link Mass Distribution and the Moment of Inertia Tensor Appendix D : Derivation of Equations of Motion Appendix E : List of Symbols Index