Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications.

Features:

• Provides the basics of how a robot works
• Targets issues related to determining the specifications and configurations for developing a robot
• Discusses controls-including classical, multivariable, and optimal approaches-in terms of trajectory and input signals
• Explains the means by which a robot senses and interacts with the environment around it
• Presents the variety of operations robots can execute, such as welding, surgery, assembly and cleaning, and how design and fabrication are affected by job-related needs
• Suggests fail-safe strategies to prevent robots from "crashing" as well as minimize damage possibilities

Contents

1. The History of Robotics
2. Rigid-Body Kinematics
3. Inverse Kinematics
4. Newton-Euler Dynamics of Robots
5. Lagrangian Dynamics
6. Kane's Method in Robotics
7. The Dynamics of Systems of Interacting Rigid Bodies
8. D-H Convention
9. Trajectory Planning for Flexible Robots
10. Error Budgeting
11. Design of Robotic End Effectors
12. Sensors
13. Precision Positioning of Rotary and Linear Systems
14. Modeling and Identification for Robot Motion Control
15. Motion Control by Linear Feedback Methods
16. Force/Impedance Control for Robotic Manipulators
17. Robust and Adaptive Motion Control of Manipulators
18. Sliding Mode Control of Robotic Manipulators
19. Impedance and Interaction Control
20. Coordinated Motion Control of Multiple Manipulators
21. Robot Simulation
22. Survey of Geometric Vision
23. Haptic Interface to Virtual Environments
24. Flexible Robot Arms
25. Robotics in Medical Applications
26. Manufacturing Automation

Index

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