Robotics and Automation Handbook

ISBN-13: 9780849318047 / Angielski / Twarda / 2004 / 602 str.

Thomas R. Kurfess

Opis

As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error.
The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system.
With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.

Recenzje

"This is a wonderful reference for designing, modeling, controlling, and interfacing robotics...well presented...provides a great foundation relating manipulator tasks, design, and control...Modern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples."
- International Journal of Engineering Education, October 2005

Spis treści

The History of Robotics, Wesley L. Stone Rigid-Body Kinematics, Gregorg S. ChirikjianInverse Kinematics, Bill GoodwineNewton-Euler Dynamics of Robots, Mark L. Nagurka Lagrangian Dynamics, Milo?s ? Zefran and Francesco BulloKane's Method in Robotics, Keith W. BuffintonThe Dynamics of Systems of Interacting Rigid Bodies, Kenneth A. Loparo and Ioannis S. VakalisD-H Convention, Jaydev P. Desai Trajectory Planning for Flexible Robots, William E. SinghoseError Budgeting, Daniel D. FreyDesign of Robotic End Effectors, Hodge JenkinsSensors, Jeanne Sullivan FalconPrecision Positioning of Rotary and Linear Systems, Stephen Ludwick Modeling and Identification for Robot Motion Control, Dragan Kosti´c, Bram de Jager, and Maarten SteinbuchMotion Control by Linear Feedback Methods, Dragan Kosti´c, Bram de Jager, and Maarten SteinbuchForce/Impedance Control for Robotic Manipulators, Siddharth P. Nagarkatti and Darren M. DawsonRobust and Adaptive Motion Control of Manipulators, Mark W. SpongSliding Mode Control of Robotic Manipulators, Hector M. GutierrezImpedance and Interaction Control, Neville Hogan and Stephen P. Buerger Coordinated Motion Control of Multiple Manipulators, Kazuhiro Kosuge and Yasuhisa HirataRobot Simulation, Lonnie J. LoveSurvey of Geometric Vision, Kun Huang and Yi Ma Haptic Interface to Virtual Environments, R. Brent GillespieFlexible Robot Arms, Wayne J. BookRobotics in Medical Applications, Chris A. Raanes and Mohan BodduluriManufacturing Automation, Hodge Jenkins

O autorze

Thomas R. Kurfess