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Prentice Hall - Introductory Robotics by J. M. Selig (1992).pdf

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Preface vii

1 Introduction

1.1 What is Robotics?

1.2 Popular Robotics

1.3 History of the Technology

1.4 Looking Ahead

2 Rigid Transformations

2.1 Rotations and Translations in 2-D

2.2 General Rigid Motions in 2-D

2.3 Centres of Rotation

2.4 Rotations about the Origin in 3-D

2.5 General 3-D Rotations

2.6 General Rigid Motions in 3-D

3 Robot Anatomy

3.1 Links

3.2 Joints

3.3 Geometric Design

3.4 Co-ordinate Frames

4 Kinematics

4.1 The Planar Manipulator

4.2 The 3-R Wrist

4.3 Design Parameters

4.4 'A'- Matrices for the Puma Robot

Contents

5 Inverse Kinematics

5.1 The Planar Manipulator

5.2 Postures

5.3 The 3-R Wrist

5.4 The First Three Joints of the Puma

5.5 The Last Three Joints of the Puma

5.6 Inverse Kinematics of the Puma

5.7 Parallel Manipulators

6 Jacobians

6.1 Linearized Kinematics

6.2 Errors

6.3 Numerical Methods

6.4 Linear Velocities

6.5 Angular Velocities

6.6 Combining Linear and Angular Velocities

7 Trajectory Following

7.1 Following Paths

7.2 Linear Approximations

7.3 Polynomial Approximations

7.4 Matching Derivatives

8 Statics

8.1 Forces and Torques

8.2 Gripping

8.3 Duality Between Wrenches and Screws

8.4 Compliance

9 Dynamics

9.1 Newtonian Mechanics

9.2 Moments of Inertia

9.3 Time Derivatives of the Inertia

9.4 OneLink

9.5 l b o Links

9.6 Many Links

9.7 Recursive Equations of Motion

10 Solutions to Exercises

Index

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