This book is about
of analysis and kinematic modelling of the most important Industrial Robots configurations,
like are: Cartesian, Cylindrical, Spherical, SCARA and Anthropomorphic in several
historical and commercial models. Based on simplified representations and the
study of the joints parameters of the Robots, the algorithms used to solve the
fundamental kinematics problems in Industrial Robotics, are clearly exposed.
If you are student or professional in automation or mechatronics, this is an essential book. If you are a fan of Robotics and wish knowing more about the robots used in industrial process, you will find all you need to introducing yourself in this subject, in the same level of any university student in science or engineering.
CHAPTER 1 INDUSTRIAL ROBOTS CONFIGURATIONS
1.1. Cartesian Robot
1.2. Cylindrical Robot
1.3. Spherical or Polar Robot
1.4. Toroidal or Scara Robot
1.5. Anthropomorphic Robot
CHAPTER
2 REPRESENTATION OF THE SOLID’S
ORIENTATION
2.1. Rotation Matrixs
2.2. Consecutive Rotations
2.3. RPY Angles
2.4. Absolute, Relative Rotations and Euler Angles.
2.5. Euler Angles
2.6. Homogeneous
Transformations
CHAPTER
3 FORWARD KINEMATICS
3.1. Definition of Forward Knematic
Problem
3.2. Denavit-Hartenberg Parameters
3.3. Transition Homogeneous Matrices
3.4. Denavit-Hartenberg Algorithm
CHAPTER
4 INVERSE KINEMATICS AND DIFFERENTIAL KINEMATICS
4.1. Inverse Kinematics
4.2. Diferential Kinematics
CHAPTER
5 KINEMATICS OF CARTESIAN ROBOT
CHAPTER
6 KINEMATICS OF
CYLINDRICAL ROBOT
CHAPTER
7 KINEMATICS OF SPHERICAL ROBOT
CHAPTER
8 KINEMATICS OF SCARA ROBOT
CHAPTER
9 KINEMATICS OF ANTHROPOMORPHIC 5R
ROBOT
CHAPTER
10 KINEMATICS OF LESS USED
CONFIGURATIONS
CHAPTER
11 KINEMATICS OF PUMA ROBOT
CHAPTER
12 KINEMATICS OF STANFORD ARM
CHAPTER
13 KINEMATICS OF PRRPRR ROBOT
CHAPTER
14 KINEMATICS OF ANTHROPOMORPHIC 6R
ROBOT
CHAPTER
15 THE FIRST
INDUSTRIAL ROBOT: UNIMATE
SCRIPTS OF USED FUNCTIONS (OCTAVE 4.0)
GLOSSARY
