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| Preface | |
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| Introduction | |
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| Viewing VRML Files | |
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| Textbook Organization | |
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| Robotics and Mechatronics | |
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| Why Robots? | |
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| Types of Robots: General Overview | |
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| What's in a Robot? | |
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| Links and Joints | |
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| Representation and Visualization of Robot Joints | |
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| Robot Arm Structures | |
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| Modeling the Human Arm | |
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| Joints and Degrees of Freedom | |
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| Robot End-Effectors | |
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| Industrial Applications of Robot Manipulators | |
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| Robot Specifications | |
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| Robot Manufacturers | |
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| Flexible Manufacturing | |
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| The Future of Robotics | |
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| Summary | |
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| Exercises | |
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| Object Location | |
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| Object Frames | |
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| Position and Orientation in 3D | |
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| The Frame Transform | |
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| 3D Rotations and Translations | |
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| RPY Angles Algorithm | |
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| Visualizing RPY Angles | |
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| Visualizing Euler Angles | |
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| Homogeneous Frame Transforms | |
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| Summary | |
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| Exercises | |
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| Robot Modeling | |
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| Modeling Robotic Arms | |
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| The Denavit-Hartenberg Parameters | |
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| Link Frame Assignments | |
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| Robot Manipulator Modeling | |
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| Examples of Robot Link Sequences | |
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| Homogeneous Frame Transforms | |
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| Virtual DH Parameters | |
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| The Robot Home Position | |
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| Converse Robots: Exchanging Base and End-Effector Frames | |
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| Modeling Examples | |
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| RModelo: A Robot Virtual Modeling Program | |
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| The PUMA 560 Virtual Model | |
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| Summary | |
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| Exercises | |
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| Forward Kinematics | |
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| Forward Kinematics of Robot Manipulators | |
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| Inverse of a Homogeneous Frame Transform Matrix | |
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| Inverse of a Pose Matrix | |
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| Computing Separate Pose Matrix Elements | |
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| End-Effector Frame Parameters | |
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| Forward Kinematics of a Cartesian Robot | |
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| Wrist-Partitioned Robots | |
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| Forward Kinematics of the PUMA 560 | |
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| Forward Kinematics of the GP66 | |
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| Symbolic Kinematic Equations Generator Program (SKEG) | |
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| Summary | |
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| Exercises | |
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| Inverse Kinematics | |
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| General Inverse Kinematics Considerations | |
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| Solving a Three-Joint Robot | |
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| General Inverse Kinematics Procedure | |
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| Other Kinematics Equations | |
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| Solving Inverse Kinematics Equations | |
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| Joint, Cartesian, and Task Space | |
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| Inverse Kinematics of the PUMA 560 Robot | |
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| Number of Solutions | |
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| Summary | |
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| Exercises | |
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| Kinematics of 4-Joint Robot Arms | |
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| The Four-DOF Reduced Set of Equations | |
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| Inverse Kinematics of the General Four-Revolute Joint Arm | |
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| Special Four-Joint Structures | |
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| Special Structures Examples | |
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| Summary | |
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| Exercises | |
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| Kinematics of Five-Joint Robots | |
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| Kinematic Analysis of Five-DOF Arms | |
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| Numerical Inverse Kinematics for Five-Revolute-Joint Arms | |
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| Closed-Form Solution for Five-Joint Arms | |
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| The KAP5 Program | |
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| Summary | |
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| Exercises | |
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| Kinematics of Six-Joint Robot Arms | |
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| The Six-Joint Kinematics Problem | |
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| Classification of Six-Joint Arms | |
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| Solving the General 6R Inverse Kinematics Problem | |
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| 2D Iterative Method | |
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| The KAP6R Program | |
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| 1D Iterative Method | |
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| Kinematics of the OM25 Robot Arm | |
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| Computing Joint Variables in Closed-Form | |
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| Summary | |
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| Exercises | |
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| The Jacobian and Velocity Kinematics | |
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| Cartesian and Joint Velocities | |
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| The Manipulator Jacobian Matrix | |
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| The End-Effector Linear Velocity | |
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| The End-Effector Angular Velocity | |
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| Computing the Jacobian | |
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| Jacobian of Six-Joint Robots | |
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| Differential Inverse Kinematics | |
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| Orientation and Angular Velocity | |
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| Link Velocities | |
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| Summary | |
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| Exercises | |
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| Robot Singularities and Redundant Arms | |
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| Robot Singularities | |
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| Kinematics of Redundant Manipulators | |
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| Differential Kinematics of Redundant Manipulators | |
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| Summary | |
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| Exercises | |
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| About the CD-ROM | |
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| General Layout | |
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| System Requirements | |
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| VRML and 3D Visualization | |
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| VRML Viewers | |
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| RModelo Displays | |
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| Mathematics Review | |
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| Points and Vectors | |
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| Matrices | |
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| Trigonometric Equations | |
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| Trigonometric Functions and the Unit Circle | |
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| Triangular Relations of Trigonometric Functions | |
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| Trigonometric Identities and Relations | |
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| The Atan2 Function | |
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| Common Robotics Equations | |
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| Bibliography | |
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| Index | |