INTRODUCTION TO ROBOTICS ANALYSIS SYSTEMS APPLICATIONS SAEED B.NIKU PDF

Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with ana Reference details. Open print view. Location: T Currently not available.

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Saeed B. Introduction 1 1. What is a Robot? Classification of Robots 2 1. What is Robotics? History of Robotics 4 1. Advantages and Disadvantages of Robots 5 1. Robot Components 6 1. Robot Degrees of Freedom 8 1. Robot Joints 11 1. Robot Coordinates 11 1. Robot Reference Frames 12 1.

Programming Modes 13 1. Robot Characteristics 15 1. Robot Workspace 16 1. Robot Languages 16 1. Robot Applications 20 1. Other Robots and Applications 24 vii. Social Issues 25 1. Introduction 29 2. Robots as Mechanisms 29 2. Matrix Representation 31 2. Representation of a point in space 31 2. Representation of a vector in space 32 2. Representation of a frame at the origin of a reference frame 33 2. Representation of a frame in a reference frame 34 2. Representation of a Rigid Body 35 2.

Homogeneous Transformation Matrices Representation of Transformations 38 2. Representation of a pure translation 39 2. Representation of a pure rotation about an axis 40 2.

Representation of combined transformations 43 2. Transformations relative to the rotating 46 Inverse of Transformation Matrices Forward and Inverse Kinematics of Robots 53 2. Forward and Inverse Kinematic Equations for Position 54 2.

Forward and Inverse Kinematic Equations for Orientation 59 2. Design Project 1: A three-degree-of-freedom Robot 2. Summary References Problems 86 87 88 Differential Motions of a Frame 99 3. Differential Translations 3. Differential Rotations 3. Differential Rotation about a general axis k 3. Differential Transformations of a Frame Kinetic Energy 4. Potential Energy 4. The Lagrangian 4. Introduction 5.

Path vs. Trajectory 5. Joint-Space vs. Cartesian-Space Descriptions 5. Basics of Trajectory Planning 5. Joint-Space Trajectory Planning 5. Cartesian-Space Trajectories 5. Design Project 5. Summary References 6 Actuators. Introduction 6. Characteristics of Actuating Systems 6. Stiffness vs. Compliance 6. Use of Reduction Gears Comparison of Actuating Systems 6.

Hydraulic Devices 6. Pneumatic Devices 6. Electric Motors 6. Contents 6. Servomotors 6. Stepper Motors 6. Microprocessor Control of Electric Motors 6. Pulse Width Modulation. Design Project 1 6. Design Project 2 6. Summary References Problems 7 Sensors 7. Introduction Position Sensors 7. Potentiometers 7. Encoders 7. Resolvers 7. Tachometers 7. Differentiation ofposition signal Acceleration Sensors Force and Pressure Sensors 7. Piezoelectric 7. Force Sensing resistor 7.

Strain gauges Torque Sensors 7. Microswitches 7. Light and Infrared Sensors 7. Touch and Tactile Sensors Contents 7. Proximity Sensors 7. Magnetic Proximity Sensors 7.

Optical Proximity Sensors 7. Ultrasonic Proximity Sensors 7. Inductive Proximity Sensors 7. Capacitive Proximity Sensors 7. Eddy Current Proximity Sensors Range-finders 7. Ultrasonic Range Finders 7. Light Based Range Finders

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An Introduction to Robotics Analysis Systems Applications by Saeed B Niku

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Introduction to Robotics: Analysis, Control, Applications, 2nd Edition

Saeed B. Introduction 1 1. What is a Robot? Classification of Robots 2 1. What is Robotics? History of Robotics 4 1. Advantages and Disadvantages of Robots 5 1.

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