Автор: Ashitava Ghosal
Название: Robotics: Fundamental Concepts and Analysis
Издательство: Oxford University Press
Год: 2006
ISBN: 0195673913
Язык: English
Формат: pdf
Размер: 31,2 mb
Страниц: 440
The subject of robotics has fascinated many engineers, scientists, and the general public. This is perhaps due to the desire of humans to create ‘human-like’ machines that can perform tasks that humans do not like to perform or cannot do them efficiently at a stretch. Although major efforts are underway across the world towards creating intelligent robots capable of performing at the behest of humans, the goal is far from being achieved. The field of robotics itself is fairly new—the word ‘robot’ was coined only in the 1920s and the first patent obtained on a robot was only about 50 years back. In the past two and half decades, however, the field of robotics has witnessed an explosive activity in terms of research and application in areas ranging from factory environments to outer space and, recently, to new areas such as homes, robotic surgery, and micro-electromechanical systems.
Comprehensive in its coverage, this book covers some advanced topics which would be useful to both undergraduate and postgraduate students.
1. Introduction
2. Mathematical Representation of Robots
3. Kinematics of Serial Manipulators
4. Kinematics of Parallel Manipulators
5. Velocity Analysis and Statics of Manipulators
6. Dynamics of Manipulators
7. Trajectory Planning and Generation
8. Position and Force Control of Manipulators
9. Modeling and Control of Flexible Manipulators
10. Modeling and Analysis of Wheeled Mobile Robots
Index
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Robotics: Fundamental Concepts and Analysis 
