Introductory Robotics by Jon Selig

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