Introduction to Robotics [Paperback]

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.- 2.2.1 Mechanical Structure.- 2.2.2 Link.- 2.2.3 Kinematic Pair.- 2.2.4 Kinematic Chain.- 2.2.5 Joint Coordinates.- 2.2.6 External Coordinates.- 2.2.7 Direct Kinematic Problem.- 2.2.8 Inverse Kinematic Problem.- 2.2.9 Redundancy.- 2.3 Direct Kinematic Problem.- 2.3.1 Manipulator Hand Position.- 2.3.1.1 Homogeneous Transformation Matrices.- 2.3.2 Manipulator Hand Orientation.- 2.4 Inverse Kinematic Problem.- 2.4.1 Analytical Solutions.- 2.4.2 Numerical Solutions.- 2.4.3 The Jacobian Matrix.- 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.- 3.2.1 Mathematical Models of Actuators.- 3.2.2 Trajectories Synthesis and Dynamic Analysis of Manipulation Robots.- 3.2.2.1 Transfer of Manipulator Tip Along Prescribed Trajectory.- 3.2.2.2 Transfer of Working Object with Desired Orientation along Prescribed Trajectory.- 3.2.3 Calculation of Other Dynamic Characteristics.- 3.2.3.1 Diagrams of Torque vs. r.p.m.- 3.2.3.2 Calculation of the Power Needed and the Energy Consumed.- 3.2.4 Testing of Dynamic Characteristics.- 3.2.4.1 Tests of a D.C. Electromotor.- 3.2.4.2 Choice of Optimal Design Parameters.- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact.- 3.3.1 Basis Vibrations.- 3.3.2 Forming Differential Equations of Motion.- 3.4 Dynamics of Robots Under Action of External Reaction Forces.- 3.4.1 Practical Cases of Constrained Gripper Motion.- 3.4.2 Mathematical Model of Manipulator with Constraints of Gripper Motion.- 3.4.3 Gripper Moving Along a Surface.- A.3.1 Connection Between the Moving and Fixed System.- A.3.2 Determining Velocities and Accelerations.- A.3.3 Momenl³°