|
Robot Modeling & Kinematics
The past few years have seen many improvements and innovations in computer graphics and visualization software, programming tools, and a wealth of mathematical packages that facilitate the teaching of robotoics at the undergraduate and graduate levels. Robot Modeling and Kinematics works as an introductory textbook to robotics with the concentration
being on modeling and kinematics which are often covered in a first semester course in robotics. Because it includes software that covers recent developments in visualization and computation, it is ideal for engineering professionals. It also explores important topics covered in a second semester robotics courses such as dynamics, control, and programming.While mathematically rigorous, the concentration of the text will be on ease of understanding of the concepts. Robot kinematics, robot modeling, general 3D object position and orientation, and trajectories are presented throughout the text. For many of the illustrations presented in the book, the reader is referred to a corresponding Virtual Reality Modeling Language (VRML) file that will display a Virtual Reality (VR) image on a computer display. By allowing the students to view figures and animation in 3D space, it provides a more comprehensive process of learning. Whether the book is intended for an introductory first semester or second semester course, Robot Modeling and Kinematics is the essential text for providing a thorough observation on 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 Manipulator Jacobian; Chapter 10: Robot Trajectories; Appendix A: Accompanying CD-ROM; Appendix B: Review of Linear Algebra; Appendix C: Trigonometry and Trigonometric Equations
|
