Robot Modeling & Kinematics

Description

Robot Modeling and Kinematics teaches the fundamental topics of robotics, using cutting-edge visualization software and computer tools to illustrate topics and provide a comprehensive process of teaching and learning. The book provides an introduction to robotics with an emphasis on the study of robotic arms, their mathematical description, and the equations describing their motion. It teaches how to model robotic arms efficiently and analyze their kinematics. The kinematics of robot manipulators is also presented beginning with the use of simple robot mechanisms and progressing to the most complex robot manipulator structures. While mathematically rigorous, the book’s focus is on ease of understanding of the concepts with interactive animated computer graphics illustrations and modeling software that allow clear understanding of the material covered in the book. All necessary computations are concisely explained and software is provided that greatly eases the computational burden normally associated with robotics. Written for use in a robotics course or as a professional reference, Robot Modeling and Kinematics is an essential resource that provides a thorough understanding of the topics of modeling and kinematics.

Chapter 1 Introduction Chapter 2 Object Location Chapter 3 Robot Modeling Chapter 4 Forward Kinematics Chapter 5 Inverse Kinematics Chapter 6 Kinematics of 4-Joint Robot Arms Chapter 7 Kinematics of Five-Joint Robots Chapter 8 Kinematics of Six-Joint Robot Arms Chapter 9 The Jacobian and Velocity Kinematics Chapter 10 Robot Singularities and Redundant Arms Appendix A About the CD-ROM Appendix B: VRML and 3D Visualization Appendix C: Mathematics Review Appendix D: Trigonometric Equations Bibliography Index

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