Introduction to Robotics

1 General Introduction to Robots.- 1.1 Dedication and Classification of Robotic Systems.- 1.2 General Features of Robotic Mechanisms and their Classification.- References.- 2 Manipulator Kinematic Model.- 2.1 Introduction.- 2.2 Definitions.- 2.3 Direct Kinematic Problem.- 2.4 Inverse Kinematic Problem.- 2.5 Manipulator Path Generation.- 2.6 Conclusion.- References.- 3 Dynamics and Dynamic Analysis of Manipulation Robots.- 3.1 Introduction.- 3.2 Mathematical Model of Manipulation Robot Dynamics.- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact.- 3.4 Dynamics of Robots Under Action of External Reaction Forces.- References.- 4 Control of Robots.- 4.1 Hierarchical Control of Robots.- 4.2 Control of a Single Joint of a Robot.- 4.3 Control of Simultaneous Motion of Several Robot Joints.- 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots.- 4.5 Control of Robots in Assembly Tasks.- References.- 5 Microprocessor Implementation of Control Algorithms.- 5.1 Introduction.- 5.2 Basic Subsystems of Modern Robot Controllers.- 5.3 Program Modules.- 5.4 Conclusion.- References.- 6 Industrial Robot Programming Systems.- 6.1 Introduction.- 6.2 Describing the Motion.- 6.3 Sensory Data Processing.- 6.4 Synchronization.- 6.5 Implementations of Robot Programming Systems.- 6.6 Robot Programming Examples.- 6.7 Additional Reading.- References.- 7 Sensors in Robotics.- 7.1 Positional Sensors.- 7.2 Environment Sensors.- 7.3 Robot Vision.- References.- 8 Elements, Structures and Application of Industrial Robots.- 8.1 Basic Postulates of Industrial Robot Design.- 8.2 Design Solutions of Main Robot Sub-assemblies.- 8.3 Examples of Industrial Robot Applications.- References.- 9 Robotics and Flexible Automation Systems.- 9.1 Introduction.- 9.2 Functional Structure of Flexible Automation Systems.- 9.3 Control of Flexible Automation Systems.- 9.4. Hardware and Software Requirements for FAS.- References.- Appendix A.9 Coloured Petri Nets.- A.9.1 General Notions on Petri Nets.- A.9.2 Execution Rules of Petri Nets.- A.9.3 Non-primitive Coloured Petri Nets.- A.9.4 Normalized Coloured Petri Nets.- References.