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E-raamat: Theory of Applied Robotics: Kinematics, Dynamics, and Control

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Theory of Applied Robotics: Kinematics, Dynamics, and Control presents detailed robotics concepts at a theoretical-practical level, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. This new edition is completely revised, and includes updated and expanded example sets and problems and new materials. This textbook is designed for undergraduate or first-year graduate programs in mechanical, systems, and industrial engineering. Practicing engineers, researchers, and related professionals will appreciate the book’s user-friendly presentation of a wealth of robotics topics, most notably in 3D kinematics and dynamics of manipulator robots.


1 Introduction
1(36)
1.1 Historical Development
2(1)
1.2 Robot Components
2(6)
1.2.1 Link
2(1)
1.2.2 Joint
3(2)
1.2.3 Manipulator
5(1)
1.2.4 Wrist
6(1)
1.2.5 End-Effector
7(1)
1.2.6 Actuators
7(1)
1.2.7 Sensors
8(1)
1.2.8 Controller
8(1)
1.3 Robot Classifications
8(5)
1.3.1 Geometry
9(2)
1.3.2 Workspace
11(1)
1.3.3 Actuation
12(1)
1.3.4 Control
12(1)
1.3.5 Application
13(1)
1.4 Robot's Kinematics, Dynamics, and Control
13(1)
1.5 Principle of Kinematics
14(14)
1.5.1 Triad
14(1)
1.5.2 Unit Vectors
15(5)
1.5.3 Orthogonality Condition
20(1)
1.5.4 Coordinate Frame and Transformation
20(2)
1.5.5 Vector Definition
22(3)
1.5.6 Vector Function
25(3)
1.6 Summary
28(1)
1.7 Key Symbols
29(8)
Exercises
31(6)
Part I Kinematics
2 Rotation Kinematics
37(54)
2.1 Rotation About Global Cartesian Axes
37(6)
2.2 Successive Rotation About Global Cartesian Axes
43(9)
2.3 Rotation About Local Cartesian Axes
52(3)
2.4 Successive Rotation About Local Cartesian Axes
55(4)
2.5 Euler Angles
59(10)
2.6 Local Axes Versus Global Axes Rotation
69(2)
2.7 General Transformation
71(8)
2.8 Active and Passive Transformation
79(1)
2.9 Summary
80(2)
2.10 Key Symbols
82(9)
Exercises
83(8)
3 Orientation Kinematics
91(58)
3.1 Axis-Angle Rotation
91(11)
3.2 Order-Free Rotation
102(7)
3.3 Euler Parameters
109(8)
3.4 If Quaternions
117(7)
3.5 Spinors and Rotators
124(2)
3.6 * Problems in Representing Rotations
126(6)
3.6.1 * Rotation Matrix
127(1)
3.6.2 * Axis-Angle
127(1)
3.6.3 * Euler Angles
128(1)
3.6.4 * Quaternion
129(1)
3.6.5 * Euler Parameters
130(2)
3.7 If Composition and Decomposition of Rotations
132(5)
3.7.1 If Composition of Rotations
132(2)
3.7.2 * Decomposition of Rotations
134(3)
3.8 Summary
137(2)
3.9 Key Symbols
139(10)
Exercises
140(9)
4 Motion Kinematics
149(76)
4.1 Rigid Body Motion
149(4)
4.2 Homogenous Transformation
153(9)
4.3 Inverse and Reverse Homogenous Transformation
162(5)
4.4 Combined Homogenous Transformation
167(9)
4.5 If Order-Free Transformation
176(6)
4.6 If Screw Coordinates
182(15)
4.7 If Inverse Screw
197(3)
4.8 If Combined Screw Transformation
200(2)
4.9 * The Plucker Line Coordinate
202(5)
4.10 * The Geometry of Plane and Line
207(5)
4.10.1 * Moment
208(1)
4.10.2 * Angle and Distance
208(1)
4.10.3 * Plane and Line
209(3)
4.11 If Screw and Plucker Coordinate
212(1)
4.12 Summary
213(2)
4.13 Key Symbols
215(10)
Exercises
216(9)
5 Forward Kinematics
225(88)
5.1 Denavit-Hartenberg Notation
225(7)
5.2 Transformation Between Adjacent Coordinate Frames
232(15)
5.3 Forward Position Kinematics of Robots
247(22)
5.4 Spherical Wrist
269(7)
5.5 Assembling Kinematics
276(13)
5.6 If Coordinate Transformation Using Screws
289(4)
5.7 If Non-Denavit-Hartenberg Methods
293(6)
5.8 Summary
299(1)
5.9 Key Symbols
300(13)
Exercises
302(11)
6 Inverse Kinematics
313(48)
6.1 Decoupling Technique
313(16)
6.2 Inverse Transformation Technique
329(14)
6.3 * Iterative Technique
343(4)
6.4 * Comparison of the Inverse Kinematics Techniques
347(1)
6.4.1 If Existence and Uniqueness of Solution
347(1)
6.4.2 * Inverse Kinematics Techniques
347(1)
6.5 * Singular Configuration
347(2)
6.6 Summary
349(1)
6.7 Key Symbols
350(11)
Exercises
352(9)
Part II Derivative Kinematics
7 Angular Velocity
361(54)
7.1 Angular Velocity Vector and Matrix
361(15)
7.2 If Time Derivative and Coordinate Frames
376(12)
7.3 Rigid Body Velocity
388(4)
7.4 If Velocity Transformation Matrix
392(8)
7.5 Derivative of a Homogenous Transformation Matrix
400(5)
7.6 Summary
405(2)
7.7 Key Symbols
407(8)
Exercises
409(6)
8 Velocity Kinematics
415(74)
8.1 * Rigid Link Velocity
415(4)
8.2 Forward Velocity Kinematics
419(10)
8.3 Jacobian Generating Vectors
429(13)
8.4 Inverse Velocity Kinematics
442(6)
8.5 * Linear Algebraic Equations
448(10)
8.6 Matrix Inversion
458(5)
8.7 Nonlinear Algebraic Equations
463(6)
8.8 If Jacobian Matrix From Link Transformation Matrices
469(7)
8.9 Summary
476(1)
8.10 Key Symbols
477(12)
Exercises
479(10)
9 Acceleration Kinematics
489(68)
9.1 Angular Acceleration Vector and Matrix
489(19)
9.2 Rigid Body Acceleration
508(2)
9.3 * Acceleration Transformation Matrix
510(8)
9.4 Forward Acceleration Kinematics
518(2)
9.5 Inverse Acceleration Kinematics
520(6)
9.6 If Rigid Link Recursive Acceleration
526(8)
9.7 * Second Derivative and Coordinate Frames
534(9)
9.8 Summary
543(2)
9.9 Key Symbols
545(12)
Exercises
547(10)
Part III Dynamics
10 Applied Dynamics
557(52)
10.1 Force and Moment
557(8)
10.1.1 Force and Moment
557(1)
10.1.2 Momentum
558(1)
10.1.3 Equation of Motion
558(1)
10.1.4 Work and Energy
559(6)
10.2 Rigid Body Translational Kinetics
565(2)
10.3 Rigid Body Rotational Kinetics
567(9)
10.4 Mass Moment Matrix
576(8)
10.5 Lagrange's Form of Newton's Equations
584(7)
10.6 Lagrangian Mechanics
591(6)
10.7 Summary
597(3)
10.8 Key Symbols
600(9)
Exercises
602(7)
11 Robot Dynamics
609(78)
11.1 Rigid Link Newton-Euler Dynamics
609(17)
11.2 * Recursive Newton-Euler Dynamics
626(6)
11.3 Robot Lagrange Dynamics
632(27)
11.4 * Lagrange Equations and Link Transformation Matrices
659(8)
11.5 Robot Statics
667(6)
11.6 Summary
673(3)
11.7 Key Symbols
676(11)
Exercises
678(9)
Part IV Control
12 Path Planning
687(44)
12.1 Cubic Path
687(5)
12.2 Polynomial Path
692(10)
12.3 * Non-polynomial Path Planning
702(3)
12.4 * Spatial Path Design
705(3)
12.5 Forward Path Robot Motion
708(4)
12.6 Inverse Path Robot Motion
712(8)
12.7 * Rotational Path
720(4)
12.8 Summary
724(1)
12.9 Key Symbols
725(6)
Exercises
726(5)
13 Time Optimal Control
731(28)
13.1 * Minimum Time and Bang-Bang Control
731(7)
13.2 * Boating Time Method
738(8)
13.3 * Time Optimal Control for Robots
746(6)
13.4 Summary
752(1)
13.5 Key Symbols
753(6)
Exercises
754(5)
14 Control Techniques
759(18)
14.1 Open- and Closed-Loop Control
759(5)
14.2 Computed Torque Control
764(3)
14.3 Linear Control Technique
767(3)
14.3.1 Proportional Control
768
14.3.2 Integral Control
708(60)
14.3.3 Derivative Control
768(2)
14.4 Sensing and Control
770(2)
14.4.1 Position Sensors
771(1)
14.4.2 Speed Sensors
771(1)
14.4.3 Acceleration Sensors
771(1)
14.5 Summary
772(1)
14.6 Key Symbols
773(4)
Exercises
774(3)
A Global Frame Triple Rotation 777(2)
B Local Frame Triple Rotation 779(2)
C Principal Central Screws Triple Combination 781(2)
D Industrial Link DH Matrices 783(8)
E Matrix Calculus 791(6)
F Trigonometric Formula 797(8)
G Algebraic Formula 805(2)
H Unit Conversions 807(2)
Bibliography 809(6)
Index 815
Reza N. Jazar is a Professor of Mechanical Engineering. Reza received his PhD degree from Sharif University of Technology; MSc and BSc from Tehran Polytechnic. His areas of expertise include Nonlinear Dynamic Systems and Applied Mathematics. He obtained original results in non-smooth dynamic systems, applied nonlinear vibrating problems, time optimal control, and mathematical modeling of vehicle dynamics and stability. He authored several monographs in vehicle dynamics, robotics, dynamics, vibrations, mathematics, and published numerous professional articles, as well as book chapters in research volumes. Most of his textbooks have been adopted by many universities for teaching and research, and by many research agencies as standard model for research results. Dr. Jazar had the pleasure to work in several Canadian, American, Asian, Middle Eastern, and Australian universities, as well as several years in Automotive Industries all around the world. Working in different engineering firms and educational systems provide him a vast experience and knowledge to publish his researches on important topics in engineering and science. His unique style of writing helps readers to learn the topics deeply in an easy way.
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