Robotics and Automation Handbook

604 pp  ISBN 0849318041      £85.00

• 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

The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system.

With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.

Contents

• The History of Robotics, Wesley L. Stone
• Rigid-Body Kinematics, Gregorg S. Chirikjian
• Inverse Kinematics, Bill Goodwine
• Newton-Euler Dynamics of Robots, Mark L. Nagurka
• Lagrangian Dynamics, Milo?s ? Zefran and Francesco Bullo
• Kane's Method in Robotics, Keith W. Buffinton
• The Dynamics of Systems of Interacting Rigid Bodies, Kenneth A. Loparo and Ioannis S. Vakalis
• D-H Convention, Jaydev P. Desai
• Trajectory Planning for Flexible Robots, William E. Singhose
• Error Budgeting, Daniel D. Frey
• Design of Robotic End Effectors, Hodge Jenkins
• Sensors, Jeanne Sullivan Falcon
• Precision Positioning of Rotary and Linear Systems, Stephen Ludwick
• Modeling and Identification for Robot Motion Control, Dragan Kosti€c, Bram de Jager, and Maarten Steinbuch
• Motion Control by Linear Feedback Methods, Dragan Kosti€c, Bram de Jager, and Maarten Steinbuch
• Force/Impedance Control for Robotic Manipulators, Siddharth P. Nagarkatti and Darren M. Dawson
• Robust and Adaptive Motion Control of Manipulators, Mark W. Spong
• Sliding Mode Control of Robotic Manipulators, Hector M. Gutierrez
• Impedance and Interaction Control, Neville Hogan and Stephen P. Buerger
• Coordinated Motion Control of Multiple Manipulators, Kazuhiro Kosuge and Yasuhisa Hirata
• Robot Simulation, Lonnie J. Love
• Survey of Geometric Vision, Kun Huang and Yi Ma
• Haptic Interface to Virtual Environments, R. Brent Gillespie
• Flexible Robot Arms, Wayne J. Book
• Robotics in Medical Applications, Chris A. Raanes and Mohan Bodduluri
• Manufacturing Automation, Hodge Jenkins