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· 분류 : 외국도서 > 기술공학 > 기술공학 > 로봇공학
· ISBN : 9781119527626
· 쪽수 : 528쪽
목차
Chapter One Fundamentals
1.1. Introduction
1.2. What is a Robot
1.3. Classification of Robots
1.4. What is Robotics
1.5. History of Robotics
1.6. Advantages and Disadvantages of Robots
1.7. Robot Components
1.8. Robot Degrees of Freedom
1.9. Robot Joints
1.10. Robot Coordinates
1.11. Robot Reference Frames
1.12. Programming Modes
1.13. Robot Characteristics
1.14. Robot Workspace
1.15. Robot Languages
1.16. Robot Applications
1.17. Other Robots and Applications
1.18. Collaborative Robots
1.19. Social Issues
Summary
References
Problems
Chapter Two Kinematics of Serial robots: Position Analysis
2.1. Introduction
2.2. Robots as Mechanisms
2.3. Conventions
2.4. Matrix Representation
2.4.1. Representation of a Point in Space
2.4.2. Representation of a Vector in Space
2.4.3. Representation of a Frame at the Origin of a Fixed Reference Frame
2.4.4. Representation of a Frame Relative to a Fixed Reference Frame
2.4.5. Representation of a Rigid Body
2.5. Homogeneous Transformation Matrices
2.6. Representation of Transformations
2.6.1. Representation of a Pure Translation
2.6.2. Representation of a Pure Rotation about an Axis
2.6.3. Representation of Combined Transformations
2.6.4. Transformations Relative to the Rotating Frame
2.6.5. Mixed Transformations Relative to Rotating and Reference Frames
2.7. Inverse of Transformation Matrices
2.8. Forward and Inverse Kinematics of Robots
2.9. Forward and Inverse Kinematic Equations: Position
2.9.1 Cartesian (Gantry, Rectangular) Coordinates
2.9.2. Cylindrical Coordinates
2.9.3. Spherical Coordinates
2.9.4. Articulated Coordinates
2.10. Forward and Inverse Kinematic Equations: Orientation
2.10.1. Roll, Pitch, Yaw (RPY) Angles
2.10.2. Euler Angles
2.10.3. Articulated Joints
2.11. Forward and Inverse Kinematic Equations: Position and Orientation
2.12. Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots
2.13. The Inverse Kinematic Solution of Robots
2.13.1. General Solution for Articulated Robot Arms
2.14. Inverse Kinematic Programming of Robots
2.15 Dual-Arm Cooperating Robots
2.16. Degeneracy and Dexterity
2.16.1. Degeneracy
2.16.2. Dexterity
2.17. The Fundamental Problem with the Denavit-Hartenberg Representation
2.18. Design Projects
Summary
References
Problems
Chapter Three Robot Kinematics with Screw-Based Mechanics
3.1. Introduction
3.2. What is a Screw
3.3. Rotation about a Screw Axis
3.4. Homogenous Transformations about a General Screw Axis
3.5. Successive Screw-based transformations
3.6. Forward and Inverse Position Analysis of an Articulated Robot
3.7. Design Projects
Summary
Additional Reading
Problems
Chapter Four Kinematics Analysis of Parallel Robots
4.1. Introduction
4.2. Physical Characteristics of Parallel Robots
4.3. Denavit-Hartenberg Approach versus Direct Kinematic Approach
4.4. Forward and Inverse Kinematics of Planar Parallel Robots
4.4.1. Kinematic Analysis of a 3-RPR Planar Parallel Robot
4.4.2. Kinematic Analysis of a 3-RRR Planar Parallel Robot
4.5. Forward and Inverse Kinematics of Spatial Parallel Robots
4.5.1: Kinematic Analysis of a Generic 6-6 Stewart-Gough Platform
4.5.2: Kinematic Analysis of a Generic 6-3 Stewart-Gough Platform
4.5.3: Kinematic Analysis of a 3-axis RSS-type Parallel Robot
4.5.4: Kinematic Analysis of a 4-axis RSS-type Parallel Robot
4.5.5: Kinematic Analysis of a 3-axis PSS-type Parallel Robot
4.6. Other Parallel Robot Configurations
4.7. Design Projects
Summary
References
Problems
Chapter Five Differential Motions and Velocities
5.1. Introduction
5.2. Differential Relationships
5.3. Jacobian
5.4. Differential versus Large-Scale Motions
5.5. Differential Motions of a Frame versus a Robot
5.6 Differential Motions of a Frame
5.6.1. Differential Translations
5.6.2. Differential Rotations about Reference Axes
5.6.3. Differential Rotation about a General Axis q
5.6.4. Differential Transformations of a Frame
5.7. Interpretation of the Differential Change
5.8. Differential Changes between Frames
5.9. Differential Motions of a Robot and its Hand Frame
5.10. Calculation of the Jacobian
5.11. How to Relate the Jacobian and the Differential Operator
5.12. Inverse Jacobian
5.13 Calculation of Jacobian with Screw-Based Mechanics
5.14. Inverse Jacobian for Screw-Based Method
5.15 Calculation of Jacobians of Parallel Robots
5.15.1. Jacobian of a Planar 3-RRR Parallel Robot
5.15.2. Jacobian of a Generic 6-6 Stewart-Gough Parallel Robot
5.16. Design Projects
Summary
References
Problems
Chapter Six Dynamic and Force Analysis
6.1. Introduction
6.2. Lagrangian Mechanics: A Short Overview
6.3. Effective Moments of Inertia
6.4. Dynamic Equations for Multiple-DOF Robots
6.4.1: Kinetic Energy
6.4.2: Potential Energy
6.4.3: The Lagrangian
6.4.4: Robot’s Equations of Motion
6.5. Static Force Analysis of Robots
6.6. Transformation of Forces and Moments between Coordinate Frames
6.7. Design Project
Summary
References
Problems
Chapter Seven Trajectory Planning
7.1. Introduction
7.2. Path versus. Trajectory
7.3. Joint-Space versus. Cartesian-Space Descriptions
7.4. Basics of Trajectory Planning
7.5. Joint-Space Trajectory Planning
7.5.1. Third-order Polynomial Trajectory Planning
7.5.2. Fifth-order Polynomial Trajectory Planning
7.5.3. Linear Segments with Parabolic Blends
7.5.4. Linear Segments with Parabolic Blends and Via Points
7.5.5. Higher-order Trajectories
7.5.6. Other Trajectories
7.6. Cartesian-Space Trajectories
7.7. Continuous Trajectory Recording
7.8. Design Project
Summary
References
Problems
Chapter Eight Motion Control Systems
8.1. Introduction
8.2. Basic Components and Terminology
8.3. Block Diagrams
8.4. System Dynamics
8.5. Laplace Transform
8.6. Inverse Laplace Transform
8.6.1. Partial Fraction Expansion when F(s) involves only distinct poles
8.6.2. Partial Fraction Expansion when F(s) involves repeated poles
8.6.3. Partial Fraction Expansion when F(s) involves complex conjugate poles
8.7. Transfer Function
8.8. Block Diagram Algebra
8.9. Characteristics of First-Order Transfer Functions
8.10. Characteristics of Second-Order Transfer Functions
8.11. Characteristic Equation: Pole/Zero Mapping
8.12. Steady-State Error
8.13. Root Locus Method
8.14. Proportional Controllers
8.15. Proportional-plus-Integral Controllers
8.16. Proportional-plus-Derivative Controllers
8.17. Proportional-Integral-Derivative Controller (PID)
8.18. Lead and Lag Compensators
8.19. Bode Diagram and Frequency Domain Analysis
8.20. Open-Loop versus Closed-Loop Applications
8.21. Multiple-Input and Multiple-Output Systems
8.22. State–Space Control Methodology
8.23. Digital Control
8.24. Non-Linear Control Systems
8.25. Electro-Mechanical Systems Dynamics: Robot Actuation and Control
8.26. Design Projects
Summary
References
Problems
Chapter Nine Actuators and Drive Systems
9.1. Introduction
9.2. Characteristics of Actuating Systems
9.2.1. Nominal Characteristics
9.2.2. Stiffness versus Compliance
9.2.3. Use of Reduction Gears
9.3. Comparison of Actuating Systems
9.4. Hydraulic Actuators
9.5. Pneumatic Devices
9.6. Electric Motors
9.6.1. Fundamental Differences between AC and DC-Type Motors
9.6.2. DC Motors
9.6.3. AC Motors
9.6.4. Brushless DC motors
9.6.5. Direct Drive Electric Motors
9.6.6. Servomotors
9.6.7. Stepper Motors
9.7. Microprocessor Control of Electric Motors
9.7.1. Pulse Width Modulation
9.7.2. Direction Control of DC Motors with an H-Bridge
9.8. Magnetostrictive Actuators
9.9. Shape-Memory Type Metals
9.10. Electroactive Polymer Actuators (EAP)
9.11. Speed Reduction
9.12. Other Systems
9.13. Design Projects
Summary
References
Problems
Chapter Ten Sensors
10.1. Introduction
10.2. Sensor Characteristics
10.3. Sensor Utilization
10.4. Position Sensors
10.4.1. Potentiometers
10.4.2. Encoders
10.4.3. Linear Variable Differential Transformer (LVDT)
10.4.4. Resolvers
10.4.5. Linear Magnetostrictive Displacement Transducers
10.4.6. Hall-effect Sensors
10.4.7. Global Positioning System (GPS)
10.4.8. Other Devices
10.5. Velocity Sensors
10.5.1. Encoders
10.5.2. Tachometers
10.5.3. Differentiation of Position Signal
10.6. Acceleration Sensors
10.7. Force and Pressure Sensors
10.7.1. Piezoelectric
10.7.2. Force Sensing Resistor
10.7.3. Strain Gauge
10.7.4. Anti-static Foam
10.8. Torque Sensors
10.9. Microswitches
10.10. Visible Light and Infrared Sensors
10.11. Touch and Tactile Sensors
10.12. Proximity Sensors
10.12.1. Magnetic Proximity Sensors
10.12.2. Optical Proximity Sensors
10.12.3. Ultrasonic Proximity Sensors
10.12.4. Inductive Proximity Sensors
10.12.5. Capacitive Proximity Sensors
10.12.6. Eddy Current Proximity Sensors
10.13. Range-finders
10.13.1. Ultrasonic Range Finders
10.13.2. Light Based Range Finders
10.14. Sniff Sensors
10.15. Vision Systems
10.16. Voice Recognition Devices
10.17. Voice Synthesizers
10.18. Remote Center Compliance (RCC) Device
10.19. Design Project
Summary
References
Chapter Eleven Image Processing and Analysis with Vision Systems
11.1. Introduction
11.2. Basic Concepts
11.2.1. Image Processing versus Image Analysis
11.2.2. Two- and Three-Dimensional Image Types
11.2.3. The Nature of an Image
11.2.4. Acquisition of Images
11.2.5. Digital Images
11.2.6. Frequency Domain versus Spatial Domain
11.3. Fourier Transform and Frequency Content of a Signal
11.4. Frequency Content of an Image; Noise, Edges
11.5. Resolution and Quantization
11.6. Sampling Theorem
11.7. Image-Processing Techniques
11.8. Histogram of Images
11.9. Thresholding
11.10. Spatial Domain Operations: Convolution Mask
11.11. Connectivity
11.12. Noise Reduction
11.12.1. Neighborhood Averaging with Convolution Masks
11.12.2. Image Averaging
11.12.3. Frequency Domain
11.12.4. Median Filters
11.13. Edge Detection
11.14. Sharpening an Image
11.15. Hough Transform
11.16. Segmentation
11.17. Segmentation by Region Growing and Region Splitting
11.18. Binary Morphology Operations
11.18.1. Thickening Operation
11.18.2. Dilation
11.18.3. Erosion
11.18.4. Skeletonization
11.18.5. Open Operation
11.18.6. Close Operation
11.18.7. Fill Operation
11.19. Gray Morphology Operations
11.19.1. Erosion
11.19.2. Dilation
11.20. Image Analysis
11.21. Object Recognition by Features
11.21.1. Basic Features Used for Object Identification
11.21.2. Moments
11.21.3. Template Matching
11.21.4. Discrete Fourier Descriptors
11.21.5. Computed Tomography (CT)
11.22. Depth Measurement with Vision Systems
11.22.1. Scene Analysis versus Mapping
11.22.2. Range Detection and Depth Analysis
11.22.3. Stereo Imaging
11.22.4. Scene Analysis with Shading and Sizes
11.23. Specialized Lighting
11.24. Image Data Compression
11.24.1. Intraframe Spatial Domain Techniques
11.24.2. Interframe Coding
11.24.3. Compression Techniques
11.25. Color Images
11.26. Heuristics
11.27. Applications of Vision Systems
11.28. Design Project
Summary
References
Problems
Chapter Twelve Fuzzy Logic Control
12.1. Introduction
12.2. Fuzzy Control: What is Needed
12.3. Crisp Values versus Fuzzy Values
12.4. Fuzzy Sets: Degrees of Truth and Membership
12.5. Fuzzification
12.6. Fuzzy Inference Rules
12.7. Defuzzification
12.7.1. Center of Gravity Method
12.7.2. Mamdani's Inference Method
12.8. Simulation of Fuzzy Logic Controller
12.9. Applications of Fuzzy Logic in Robotics
12.10. Design Project
Summary
References
Problems
Appendix A
A.1. Matrix Algebra and Notation: A Review
A.2. Calculation of an Angle from its Sine, Cosine, or Tangent
A.3. Solving equations with sine and cosine
Appendix B
Image Acquisition Systems