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Robotics and Automation Handbook

Robotics and Automation Handbook


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About the Book

The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotics systems and their various applications. The chapters cover the development and implementation of specifications for a robotic system and the issues related to the forces and torques generated on a robotic system. The author presents kinetic and dynamic analyses to demonstrate how a robotic system is analyzed. The book includes coverage of a variety of controls approaches including classical, multivariable and optimal. Also covered are the specific difficulties of particular applications and how these are addressed in the development of the robot.

Table of Contents:
The History of Robotics. Rigid-Body Kinematics. Inverse Kinematics. Newton-Euler Dynamics of Robots. Lagrangian Dynamics. Kane's Method in Robotics. The Dynamics of Systems of Interacting Rigid Bodies. D-H Convention. Trajectory Planning for Flexible Robots. Error Budgeting. Design of Robotic End Effectors. Sensors. Precision Positioning of Rotary and Linear Systems. Modeling and Identification for Robot Motion Control. Motion Control by Linear Feedback Methods. Force/Impedance Control for Robotic Manipulators. Robust and Adaptive Motion Control of Manipulators. Sliding Mode Control of Robotic Manipulators. Impedance and Interaction Control. Coordinated Motion Control of Multiple Manipulators. Robot Simulation. Survey of Geometric Vision. Haptic Interface to Virtual Environments. Flexible Robot Arms. Robotics in Medical Applications. Manufacturing Automation.

Review :
"This is a wonderful reference for designing, modeling, controlling, and interfacing robotics…well presented…provides a great foundation relating manipulator tasks, design, and control…Modern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples." - International Journal of Engineering Education, October 2005


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Product Details
  • ISBN-13: 9780849318047
  • Publisher: Taylor & Francis Inc
  • Publisher Imprint: CRC Press Inc
  • Height: 241 mm
  • No of Pages: 602
  • Width: 171 mm
  • ISBN-10: 0849318041
  • Publisher Date: 15 Oct 2004
  • Binding: Hardback
  • Language: English
  • Weight: 1160 gr


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