Robotics (repost)
Tadej Bajd, Matjaz Mihelj, "Robotics (Intelligent Systems, Control and Automation: Science and Engineering)"
Publisher:Springer | ISBN: 9048137756 | 2010 | PDF | 156 pages | 5.9 Mb PDF
This supplementary introductory tutorial treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and finally, robot standards and safety are briefly dealt with. The book concludes with a glossary in English, French and German.