Introduction to Robotics: Analysis, Systems, Applications
Introduction to Robotics: Analysis, Systems, Applications
S.B. NikuPearson Education2001349 pp.ISBN 0-13-061309-6£52.99
Keywords: Robots
This book provides a comprehensive introduction to robotics and is suitable for students in computer science, mechanical and electronic engineering courses. It will also be of interest to practicing engineers whose work is related to robotics.
Chapter 1, Fundamentals, discusses topics including what a robot is,classification of robots, advantages and disadvantages of robots, robot characteristics, and robot applications.
The following four chapters address the mathematical basis for controlling robots. Chapter 2, Robot Kinetics: Position Analysis, presents topics including matrix representation, homogeneous transformation matrices, inverse of transformation matrices, forward and inverse kinematics of robots, and the Denavit-Hartenberg representation of forward kinematic equations. Differential relationships and differential motion of a frame, calculation of the Jacobian,and interpretation of the differential change, are amongst the topics discussed in chapter 3, Differential Motion and Velocities. Dynamic Analysis and Forces are addressed in chapter 4, while chapter 5 presents Trajectory Planning. Topics discussed include Lagrangian mechanics, effective moments of inertia,transformation of forces and moments between coordinate frames, joint-space trajectory planning, Cartesian-space trajectories, and continuous trajectory recording.
Chapter 6, Actuators, discusses the characteristics of actuating systems,compares different actuating systems, and presents hydraulic and pneumatic devices, electric motors, microprocessor control, magnetostrictive actuators,and shape-memory metals. A wide selection of sensors that are commonly used in robotic systems are presented in chapter 7.
Chapter 8 introduces many aspects of Image Processing and Analysis with Vision Systems. Topics addressed include: two- and three-dimensional image types, acquisition of images, frequency domain vs spectral domain processing,sampling and quantization, a range of image processing techniques, and applications of vision systems. The final chapter of the book provides an introduction to Fuzzy Logic Control, and discusses fuzzy sets: degrees of membership and truth, fuzzification and defuzzification, simulation of a fuzzy logic controller, and applications of fuzzy logic in robotics.
“Introduction to Robotics: Analysis, Systems, Applications” is a clearly presented and well written textbook. It requires a good understanding of matrix algebra and basic feedback control theory and analysis. The book contains numerous problems and provides a robotic design exercise that progresses as new material is introduced. For teachers and lecturers wishing to use this book,possible course content is suggested.
