Synopses & Reviews
Introduction to robot manipulators, with case studies of industrial robots.
Synopsis
Introduces the subject of robot manipulators and describes a forward and reverse analysis for serial robot arms. Focuses on closed form solution techniques applied to a broad range of manipulator geometries. Case studies show how the techniques are used in real engineering applications.
Description
Includes bibliographical references (p. [426]-427) and index.
Table of Contents
1. Introduction; 2. Coordinate transformations; 3. Manipulator kinematics; 4. Forward kinematic analysis; 5. Reverse kinematic analysis problem statement; 6. Spherical closed loop mechanisms; 7. Displacement analysis of group 1 spatial mechanisms; 8. Group 2 spatial mechanisms; 9. Group 3 spatial mechanisms; 10. Group 4 spatial mechanisms; 11. Case studies; 12. Quaternions; References; Appendix.