Biomimetic Robotics: Mechanisms and Control | by Ranjan Vepa | 2009 | ISBN: 9780521895941. Biomimetic Sensors and Actuators. Computer-Aided Surgery. Serial Robot Manipulators. Robot Control. Robot Sensing and Perception
Biomimetic Robotics: Mechanisms and Control
by Ranjan Vepa
2009 (360 pages)
ISBN:9780521895941
Including realistic examples and exercises in every chapter, this comprehensive text presents the fundamentals of robotics, from an aerospace perspective, by considering only the field of robot mechanisms.
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Biomimetic Robotics—Mechanisms and Control
Preface
Acronyms
Chapter 1 – The Robot
1.1: Robotics: An Introduction
1.2: Robot-Manipulator Fundamentals and Components
1.3: From Kinematic Pairs to the Kinematics of Mechanisms
1.4: Novel Mechanisms
1.5: Spatial Mechanisms and Manipulators
1.6: Meet Professor da Vinci the Surgeon, PUMA, and SCARA
1.7: Back to the Future
Exercises
Chapter 2 – Biomimetic Mechanisms
2.1: Introduction
2.2: Principles of Legged Locomotion
2.3: Imitating Animals
2.4: Biomimetic Sensors and Actuators
2.5: Applications in Computer-Aided Surgery and Manufacture
Exercises
Chapter 3 – Homogeneous Transformations and Screw Motions
3.1: General Rigid Motions in Two Dimensions
3.2: Rigid Body Motions in Three Dimensions: Definition of Pose
3.3: General Motions of Rigid Frames in Three Dimensions: Frames with Pose
Exercises
Chapter 4 – Direct Kinematics of Serial Robot Manipulators
4.1: Definition of Direct or Forward Kinematics
4.2: The Denavit–Hartenberg Convention
4.3: Planar Anthropomorphic Manipulators
4.4: Planar Nonanthropomorphic Manipulators
4.5: Kinematics of Wrists
4.6: Direct Kinematics of Two Industrial Manipulators
Exercises
Chapter 5 – Manipulators with Multiple Postures and Compositions
5.1: Inverse Kinematics of Robot Manipulators
5.2: Parallel Manipulators: Compositions
5.3: Workspace of a Manipulator
Exercises
Chapter 6 – Grasping—Mechanics and Constraints
6.1: Forces and Moments
6.2: Definition of a Wrench
6.3: Mechanics of Gripping
6.4: Transformation of Forces and Moments
6.5: Compliance
Exercises
Chapter 7 – Jacobians
7.1: Differential Motion
7.2: Definition of a Screw Vector: Instantaneous Screws
7.3: The Jacobian and the Inverse Jacobian
Exercises
Chapter 8 – Newtonian, Eulerian, and Lagrangian Dynamics
8.1: Newtonian and Eulerian Mechanics
8.2: Lagrangian Dynamics of Manipulators
8.3: The Principle of Virtual Work
Exercises
Chapter 9 – Path Planning, Obstacle Avoidance, and Navigation
9.1: Fundamentals of Trajectory Following
9.2: Dynamic Path Planning
9.3: Obstacle Avoidance
9.4: Inertial Measuring and Principles of Position and Orientation Fixing
Exercises
Chapter 10 – Hamiltonian Systems and Feedback Linearization
10.1: Dynamical Systems of the Liouville Type
10.2: Contact Transformation
10.3: Canonical Representations of the Dynamics
10.4: Applications of Feedback Linearization
10.5: Optimal Control of Hamiltonian and Near-Hamiltonian Systems
10.6: Dynamics of Nonholonomic Systems
Exercises
Chapter 11 – Robot Control
11.1: Introduction
11.2: HAL, Do You Understand JAVA?
11.3: Robot Sensing and Perception
Exercises
Chapter 12 – Biomimetic Motive Propulsion
12.1: Introduction
12.2: Dynamics and Balance of Walking Biped Robots
12.3: Modeling Bird Flight: Robot Manipulators in Free Flight
12.4: Flapping Propulsion of Aerial Vehicles
12.5: Underwater Propulsion and Its Control
Exercises
Answers to Selected Exercises
Chapter 3
Chapter 4
Chapter 5
Chapter 7
Chapter 8
Chapter 10
Chapter 12
Appendix – Attitude and Quaternions
A.1: Defining Attitude: Frames of Reference
A.2: Rotating Frames of Reference
A.3: Synthesis of Rotational Transformations
A.4: Four-Parameter Rotational Operators: Quaternions
Bibliography
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