2%
Introduction to Robotics: Analysis, Control, Applications

Introduction to Robotics: Analysis, Control, Applications

4       |  4 Reviews 
5
4
3
2
1

International Edition


Premium quality
Premium quality
Bookswagon upholds the quality by delivering untarnished books. Quality, services and satisfaction are everything for us!
Easy Return
Easy return
Not satisfied with this product! Keep it in original condition and packaging to avail easy return policy.
Certified product
Certified product
First impression is the last impression! Address the book’s certification page, ISBN, publisher’s name, copyright page and print quality.
Secure Checkout
Secure checkout
Security at its finest! Login, browse, purchase and pay, every step is safe and secured.
Money back guarantee
Money-back guarantee:
It’s all about customers! For any kind of bad experience with the product, get your actual amount back after returning the product.
On time delivery
On-time delivery
At your doorstep on time! Get this book delivered without any delay.
Quantity:
Add to Wishlist

About the Book

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.

Table of Contents:
Preface. Chapter 1 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 Social Issues. Summary. References. Problems. Chapter 2 Kinematics of 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. 2.7 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 Yam (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 Degeneracy and Dexterity. 2.15.1 Degeneracy. 2.15.2 Dexterity. 2.16 The Fundamental Problem with the Denavit-Hartenberg Representation. 2.17 Design Projects. 2.17.1 A 3-DOF Robot. 2.17.2 A 3-DOF Mobile Robot. Summary. References. Problems. Chapter 3 Differential Motions and Velocities. 3.1 Introduction. 3.2 Differential Relationships. 3.3 Jacobian. 3.4 Differential versus Large-Scale Motions. 3.5 Differential Motions of a Frame versus a Robot. 3.6 Differential Motions of a Frame. 3.6.1 Differential Translations. 3.6.2 Differential Rotations about the Reference Axes. 3.6.3 Differential Rotation about a General Axis q. 3.6.4 Differential Transformations of a Frame. 3.7 Interpretation of the Differential Change. 3.8 Differential Changes between Frames. 3.9 Differential Motions of a Robot and Its Hand Frame. 3.10 Calculation of the Jacobian. 3.11 How to Relate the Jacobian and the Differential Operator. 3.12 Inverse Jacobian. 3.13 Design Projects. 3.13.1 The 3-DOF Robot. 3.13.2 The 3-DOF Mobile Robot. Summary. References. Problems. Chapter 4 Dynamic Analysis and Forces. 4.1 Introduction. 4.2 Lagrangian Mechanics: A Short Overview. 4.3 Effective Moments of Inertia. 4.4 Dynamic Equations for Multiple-DOF Robots. 4.4.1 Kinetic Energy. 4.4.2 Potential Energy. 4.4.3 The Lagrangian. 4.4.4 Robot's Equations of Motion. 4.5 Static Force Analysis of Robots. 4.6 Transformation of Forces and Moments between Coordinate Frames. 4.7 Design Project. Summary. References. Problems. Chapter 5 Trajectory Planning. 5.1 Introduction. 5.2 Path versus Trajectory. 5.3 Joint-Space versus Cartesian-Space Descriptions. 5.4 Basics of Trajectory Planning. 5.5 Joint-Space Trajectory Planning. 5.5.1 Third-Order Polynomial Trajectory Planning. 5.5.2 Fifth-Order Polynomial Trajectory Planning. 5.5.3 Linear Segments with Parabolic Blends. 5.5.4 Linear Segments with Parabolic Blends and Via Points. 5.5.5 Higher-Order Trajectories. 5.5.6 Other Trajectories. 5.6 Cartesian-Space Trajectories. 5.7 Continuous Trajectory Recording. 5.8 Design Project. Summary. References. Problems. Chapter 6 Motion Control Systems. 6.1 Introduction. 6.2 Basic Components and Terminology. 6.3 Block Diagrams. 6.4 System Dynamics. 6.5 The Laplace Transform. 6.6 Inverse Laplace Transform. 6.6.1 Partial Fraction Expansion when F(s) Involves Only Distinct Poles. 6.6.2 Partial Fraction Expansion when F(s) Involves Repeated Poles. 6.6.3 Partial Fraction Expansion when F(s) Involves Complex Conjugate Poles. 6.7 Transfer Function. 6.8 Block Diagram Algebra. 6.9 Characteristics of First-Order Transfer Functions. 6.10 Characteristics of Second-Order Transfer Functions. 6.11 Characteristic Equation: Pole/Zero Mapping. 6.12 Steady-State Error. 6.13 Root Locus Method. 6.14 Proportional Controllers. 6.15 Proportional-plus-Integral Controllers. 6.16 Proportional-plus-Derivative Controllers. 6.17 Proportional-Integral-Derivative Controller (PID). 6.18 Lead and Lag Compensators. 6.19 The Bode Diagram and Frequency Domain Analysis. 6.20 Open-Loop versus Closed-Loop Applications. 6.21 Multiple-Input and Multiple-Output Systems. 6.22 State-Space Control Methodology. 6.23 Digital Control 6.24 Nonlinear Control Systems. 6.25 Electromechanical Systems Dynamics: Robot Actuation and Control. 6.26 Design Projects. Summary. References. Problems. Chapter 7 Actuators and Drive Systems. 7.1 Introduction. 7.2 Characteristics of Actuating Systems. 7.2.1 Nominal Characteristics-Weight, Power to Weight Ratio, Operating Pressure, Voltage, and Others. 7.2.2 Stiffness versus Compliance. 7.2.3 Use of Reduction Gears. 7.3 Comparison of Actuating Systems. 7.4 Hydraulic Actuators. 7.5 Pneumatic Devices. 7.6 Electric Motors. 7.6.1 Fundamental Differences between AC and DC-Type Motors. 7.6.2 DC Motors. 7.6.3 AC Motors. 7.6.4 Brushless DC Motors. 7.6.5 Direct Drive Electric Motors. 7.6.7 Servomotors. 7.6.8 Stepper Motors. 7.7 Microprocessor Control of Electric Motors. 7.7.1 Pulse Width Modulation. 7.7.2 Direction Control of DC Motors with an H-Bridge. 7.8 Magnetostrictive Actuators. 7.9 Shape-Memory Type Metals. 7.10 Electroactive Polymer Actuators (EAP). 7.11 Speed Reduction. 7.12 Other Systems. 7.13 Design Projects. 7.13.1 Design Project 1. 7.13.2 Design Project 2. 7.13.3 Design Project 3. 7.13.4 Design Project 4. Summary. References. Problems. Chapter 8 Sensors. 8.1 Introduction. 8.2 Sensor Characteristics. 8.3 Sensor Utilization. 8.4 Position Sensors. 8.4.1 Potentiometers. 8.4.2 Encoders. 8.4.3 Linear Variable Differential Transformers (LVDT). 8.4.4 Resolvers. 8.4.5 (Linear) Magnetostrictive Displacement Transducers. 8.4.6 Hall-Effect Sensors. 8.4.7 Other Devices. 8.5 Velocity Sensors. 8.5.1 Encoders. 8.5.2 Tachometers. 8.5.3 Differentiation of Position Signal. 8.6 Acceleration Sensors. 8.7 Force and Pressure Sensors. 8.7.1 Piezoelectric. 8.7.2 Force Sensing Resistor. 8.7.3 Strain Gauge. 8.7.4 Antistatic Foam. 8.8 Torque Sensors. 8.9 Microswitches. 8.10 Visible Light and Infrared Sensors. 8.11 Touch and Tactile Sensors. 8.12 Proximity Sensors. 8.12.1 Magnetic Proximity Sensors. 8.12.2 Optical Proximity Sensors. 8.12.3 Ultrasonic Proximity Sensors. 8.12.4 Inductive Proximity Sensors. 8.12.5 Capacitive Proximity Sensors. 8.12.6 Eddy Current Proximity Sensors. 8.13 Range Finders. 8.13.1 Ultrasonic Range Finders. 8.13.2 Light-Based Range Finders. 8.13.3 Global Positioning System (GPS). 8.14 Sniff Sensors. 8.15 Taste Sensors. 8.16 Vision Systems. 8.17 Voice Recognition Devices. 8.18 Voice Synthesizers. 8.19 Remote Center Compliance (RCC) Device. 8.20 Design Project. Summary. References. Chapter 9 Image Processing and Analysis with Vision Systems. 9.1 Introduction. 9.2 Basic Concepts. 9.2.1 Image Processing versus Image Analysis. 9.2.2 Two- and Three-Dimensional Image Types. 9.2.3 The Nature of an Image. 9.2.4 Acquisition of Images. 9.2.5 Digital Images. 9.2.6 Frequency Domain versus Spatial Domain. 9.3 Fourier Transform and Frequency Content of a Signal. 9.4 Frequency Content of an Image; Noise, Edges. 9.5 Resolution and Quantization. 9.6 Sampling Theorem. 9.7 Image-Processing Techniques. 9.8 Histogram of Images. 9.9 Thresholding. 9.10 Spatial Domain Operations: Convolution Mask. 9.11 Connectivity. 9.12 Noise Reduction. 9.12.1 Neighborhood Averaging with Convolution Masks. 9.12.2 Image Averaging. 9.12.3 Frequency Domain. 9.12.4 Median Filters. 9.13 Edge Detection. 9.14 Sharpening an Image. 9.15 Hough Transform. 9.16 Segmentation. 9.17 Segmentation by Region Growing and Region Splitting. 9.18 Binary Morphology Operations. 9.18.1 Thickening Operation. 9.18.2 Dilation. 9.18.3 Erosion. 9.18.4 Skeletonization. 9.18.5 Open Operation. 9.18.6 Close Operation. 9.18.7 Fill Operation. 9.19 Gray Morphology Operations. 9.19.1 Erosion. 9.19.2 Dilation. 9.20 Image Analysis. 9.21 Object Recognition by Features. 9.21.1 Basic Features Used for Object Identification. 9.21.2 Moments. 9.21.3 Template Matching. 9.21.4 Discrete Fourier Descriptors. 9.21.5 Computed Tomography (CT). 9.22 Depth Measurement with Vision Systems. 9.22.1 Scene Analysis versus Mapping. 9.22.2 Range Detection and Depth Analysis. 9.22.3 Stereo Imaging. 9.22.4 Scene Analysis with Shading and Sizes. 9.23 Specialized Lighting. 9.24 Image Data Compression. 9.24.1 Intraframe Spatial Domain. 9.24.2 Interframe Coding. 9.24.3 Compression Techniques. 9.25 Color Images. 9.26 Heuristics. 9.27 Applications of Vision Systems. 9.28 Design Project. Summary. References. Problems. Chapter 10 Fuzzy Logic Control. 10.1 Introduction. 10.2 Fuzzy Control: What Is Needed. 10.3 Crisp Values versus Fuzzy Values. 10.4 Fuzzy Sets: Degrees of Membership and Truth. 10.5 Fuzzification. 10.6 Fuzzy Inference Rule Base. 10.7 Defuzzification. 10.7.1 Center of Gravity Method. 10.7.2 Mamdani's Inference Method. 10.8 Simulation of Fuzzy Logic Controller. 10.9 Applications of Fuzzy Logic in Robotics. 10.10 Design Project. Summary. References. Problems. Appendix A Review of Matrix Algebra and Trigonometry. A.1 Matrix Algebra and Notation: A Review. A.2 Calculation of an Angle from Its Sine, Cosine, or Tangent. Problems. Appendix B Image Acquisition Systems. B.1 Vidicon Camera. B.2 Digital Camera. References. Appendix C Root Locus and Bode Diagram with MatlabTM. C.1 Root Locus. C.2 Bode Diagram. Appendix D Simulation of Robots with Commercial Software. Index.


Best Sellers


Product Details
  • ISBN-13: 9780470604465
  • Publisher: John Wiley and Sons Ltd
  • Publisher Imprint: John Wiley & Sons Ltd
  • Depth: 19
  • Height: 241 mm
  • No of Pages: 480
  • Returnable: N
  • Spine Width: 21 mm
  • Weight: 898 gr
  • ISBN-10: 0470604468
  • Publisher Date: 27 Oct 2010
  • Binding: Hardback
  • Edition: 2
  • Language: English
  • Returnable: N
  • Series Title: English
  • Sub Title: Analysis, Control, Applications
  • Width: 192 mm


Similar Products

How would you rate your experience shopping for books on Bookswagon?

Add Photo
Add Photo

Customer Reviews

4       |  4 Reviews 
out of (%) reviewers recommend this product
Top Reviews
Rating Snapshot
Select a row below to filter reviews.
5
4
3
2
1
Average Customer Ratings
4       |  4 Reviews 
00 of 0 Reviews
Sort by :
Active Filters

00 of 0 Reviews
SEARCH RESULTS
1–2 of 2 Reviews
    BoxerLover2 - 5 Days ago
    A Thrilling But Totally Believable Murder Mystery

    Read this in one evening. I had planned to do other things with my day, but it was impossible to put down. Every time I tried, I was drawn back to it in less than 5 minutes. I sobbed my eyes out the entire last 100 pages. Highly recommend!

    BoxerLover2 - 5 Days ago
    A Thrilling But Totally Believable Murder Mystery

    Read this in one evening. I had planned to do other things with my day, but it was impossible to put down. Every time I tried, I was drawn back to it in less than 5 minutes. I sobbed my eyes out the entire last 100 pages. Highly recommend!


Sample text
Photo of
    Media Viewer

    Sample text
    Reviews
    Reader Type:
    BoxerLover2
    00 of 0 review

    Your review was submitted!
    Introduction to Robotics: Analysis, Control, Applications
    John Wiley and Sons Ltd -
    Introduction to Robotics: Analysis, Control, Applications
    Writing guidlines
    We want to publish your review, so please:
    • keep your review on the product. Review's that defame author's character will be rejected.
    • Keep your review focused on the product.
    • Avoid writing about customer service. contact us instead if you have issue requiring immediate attention.
    • Refrain from mentioning competitors or the specific price you paid for the product.
    • Do not include any personally identifiable information, such as full names.

    Introduction to Robotics: Analysis, Control, Applications

    Required fields are marked with *

    Review Title*
    Review
      Add Photo Add up to 6 photos
      Would you recommend this product to a friend?
      Tag this Book
      Read more
      Does your review contain spoilers?
      What type of reader best describes you?
      I agree to the terms & conditions
      You may receive emails regarding this submission. Any emails will include the ability to opt-out of future communications.

      CUSTOMER RATINGS AND REVIEWS AND QUESTIONS AND ANSWERS TERMS OF USE

      These Terms of Use govern your conduct associated with the Customer Ratings and Reviews and/or Questions and Answers service offered by Bookswagon (the "CRR Service").


      By submitting any content to Bookswagon, you guarantee that:
      • You are the sole author and owner of the intellectual property rights in the content;
      • All "moral rights" that you may have in such content have been voluntarily waived by you;
      • All content that you post is accurate;
      • You are at least 13 years old;
      • Use of the content you supply does not violate these Terms of Use and will not cause injury to any person or entity.
      You further agree that you may not submit any content:
      • That is known by you to be false, inaccurate or misleading;
      • That infringes any third party's copyright, patent, trademark, trade secret or other proprietary rights or rights of publicity or privacy;
      • That violates any law, statute, ordinance or regulation (including, but not limited to, those governing, consumer protection, unfair competition, anti-discrimination or false advertising);
      • That is, or may reasonably be considered to be, defamatory, libelous, hateful, racially or religiously biased or offensive, unlawfully threatening or unlawfully harassing to any individual, partnership or corporation;
      • For which you were compensated or granted any consideration by any unapproved third party;
      • That includes any information that references other websites, addresses, email addresses, contact information or phone numbers;
      • That contains any computer viruses, worms or other potentially damaging computer programs or files.
      You agree to indemnify and hold Bookswagon (and its officers, directors, agents, subsidiaries, joint ventures, employees and third-party service providers, including but not limited to Bazaarvoice, Inc.), harmless from all claims, demands, and damages (actual and consequential) of every kind and nature, known and unknown including reasonable attorneys' fees, arising out of a breach of your representations and warranties set forth above, or your violation of any law or the rights of a third party.


      For any content that you submit, you grant Bookswagon a perpetual, irrevocable, royalty-free, transferable right and license to use, copy, modify, delete in its entirety, adapt, publish, translate, create derivative works from and/or sell, transfer, and/or distribute such content and/or incorporate such content into any form, medium or technology throughout the world without compensation to you. Additionally,  Bookswagon may transfer or share any personal information that you submit with its third-party service providers, including but not limited to Bazaarvoice, Inc. in accordance with  Privacy Policy


      All content that you submit may be used at Bookswagon's sole discretion. Bookswagon reserves the right to change, condense, withhold publication, remove or delete any content on Bookswagon's website that Bookswagon deems, in its sole discretion, to violate the content guidelines or any other provision of these Terms of Use.  Bookswagon does not guarantee that you will have any recourse through Bookswagon to edit or delete any content you have submitted. Ratings and written comments are generally posted within two to four business days. However, Bookswagon reserves the right to remove or to refuse to post any submission to the extent authorized by law. You acknowledge that you, not Bookswagon, are responsible for the contents of your submission. None of the content that you submit shall be subject to any obligation of confidence on the part of Bookswagon, its agents, subsidiaries, affiliates, partners or third party service providers (including but not limited to Bazaarvoice, Inc.)and their respective directors, officers and employees.

      Accept

      New Arrivals

      Inspired by your browsing history


      Your review has been submitted!

      You've already reviewed this product!
      ASK VIDYA