This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity. It addresses the following subjects: a general introduction to robotics; basic characteristics of industrial robot mechanisms; position and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanisms expanded with robot wrist orientation description in this new edition; a brief introduction to the kinematics and dynamics of robots; robot sensors and planning of robot trajectories; fundamentals of robot vision; basic control schemes resulting in either desired end-effector trajectory or force; robot workcells with feeding devices and robot grippers. This second edition has been expanded to include the following new topics: parallel robots; collaborative robots; teaching of robots; mobile robots; and humanoid robots. The book is optimally suited for courses in robotics or industrial robotics and requires a minimal grasp of physics and mathematics. The 1st edition of this book won the Outstanding Academic Title distinction from the library magazine CHOICE in 2011.
The coupling of several areas of the medical field with recent advances in robotic systems has seen a paradigm shift in our approach to selected sectors of medical care, especially over the last decade. Rehabilitation medicine is one such area. The development of advanced robotic systems has ushered with it an exponential number of trials and experiments aimed at optimising restoration of quality of life to those who are physically debilitated. Despite these developments, there remains a paucity in the presentation of these advances in the form of a comprehensive tool. This book was written to present the most recent advances in rehabilitation robotics known to date from the perspective of some of the leading experts in the field and presents an interesting array of developments put into 33 comprehensive chapters. The chapters are presented in a way that the reader will get a seamless impression of the current concepts of optimal modes of both experimental and ap- plicable roles of robotic devices.
This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity. It addresses the following subjects: a general introduction to robotics; basic characteristics of industrial robot mechanisms; position and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanisms expanded with robot wrist orientation description in this new edition; a brief introduction to the kinematics and dynamics of robots; robot sensors and planning of robot trajectories; fundamentals of robot vision; basic control schemes resulting in either desired end-effector trajectory or force; robot workcells with feeding devices and robot grippers. This second edition has been expanded to include the following new topics: parallel robots; collaborative robots; teaching of robots; mobile robots; and humanoid robots. The book is optimally suited for courses in robotics or industrial robotics and requires a minimal grasp of physics and mathematics. The 1st edition of this book won the Outstanding Academic Title distinction from the library magazine CHOICE in 2011.
This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.
This supplementary introductory text for courses in robotics or industrial robotics requires minimal knowledge of physics and mathematics. It treats many fundamental subjects in robotics and includes a glossary in English, French and German.
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