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Separate different tags with a comma. To include a comma in your tag, surround the tag with double quotes. Please enable cookies in your browser to get the full Trove experience. Skip to content Skip to search. Niku, Saeed B. Physical Description xiv, p. Published Hoboken, N. Saeed Benjamin Edition 2nd ed. Summary "Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers.
Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style.
Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they've learned. Introduction 1. What Is a Robot? Classification of Robots 1. What Is Robotics? History of Robotics 1.
Advantages and Disadvantages of Robots 1. Robot Components 1. Robot Degrees of Freedom 1. Robot Joints 1. Robot Coordinates 1.
Robot Reference Frames 1. Programming Modes 1. Robot Characteristics 1. Robot Workspace 1. Robot Languages 1. Robot Applications 1. Other Robots and Applications 1. Social Issues Summary References Problems ch. Introduction 2. Robots as Mechanisms 2. Conventions 2. Matrix Representation 2. Representation of a Point in Space 2. Representation of a Vector in Space 2. Representation of a Rigid Body 2. Homogeneous Transformation Matrices 2. Representation of Transformations 2. Representation of a Pure Translation 2.
Representation of a Pure Rotation about an Axis 2. Representation of Combined Transformations 2. Transformations Relative to the Rotating Frame 2. Inverse of Transformation Matrices 2. Forward and Inverse Kinematics of Robots 2. Forward and Inverse Kinematic Equations: Position 2.
Cartesian Gantry, Rectangular Coordinates 2. Cylindrical Coordinates 2. Spherical Coordinates 2. Articulated Coordinates 2. Forward and Inverse Kinematic Equations: Orientation 2. Euler Angles 2. Articulated Joints 2. The Inverse Kinematic Solution of Robots 2. General Solution for Articulated Robot Arms 2. Inverse Kinematic Programming of Robots 2. Degeneracy and Dexterity 2. Degeneracy 2. Dexterity 2. Design Projects 2. A 3-DOF Robot 2. Introduction 3. Differential Relationships 3.
Jacobian 3. Differential versus Large-Scale Motions 3. Differential Motions of a Frame versus a Robot 3. Differential Motions of a Frame 3. Differential Translations 3. Differential Rotations about the Reference Axes 3. Differential Rotation about a General Axis q 3. Differential Transformations of a Frame 3. Interpretation of the Differential Change 3. Differential Changes between Frames Contents note continued: 3. Differential Motions of a Robot and its Hand Frame 3. Calculation of the Jacobian 3.
How to Relate the Jacobian and the Differential Operator 3. Inverse Jacobian 3. Design Projects 3. The 3-DOF Robot 3. Introduction 4. Lagrangian Mechanics: A Short Overview 4. Effective Moments of Inertia 4. Kinetic Energy 4. Potential Energy 4. The Lagrangian 4. Robot's Equations of Motion 4. Static Force Analysis of Robots 4. Transformation of Forces and Moments between Coordinate Frames 4. Design Project ch. Introduction 5. Path versus Trajectory 5. Joint-Space versus Cartesian-Space Descriptions 5.
Basics of Trajectory Planning Contents note continued: 5. Joint-Space Trajectory Planning 5.
Introduction to Robotics: Analysis, Control, Applications, 2nd Edition
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