Introduction To Robotics

1. Introduction

2. Serial Robots

3. Actuators

4. Sensors

5. Transformations

6. Kinematics

7. Statics

8. Dynamics

9. Recursive Robot Dynamic

10. Control

11. Motion Planning

12. Computers for Robots

Appendix A: Mathematical Fundamentals

Appendix B: Use of MATLAB and ridim

Appendix C: Student Projects: Case Studies

New Features

? Comprehensive coverage of the syllabi- 100% coverage of all the topics pertaining to Robotics. (None of the competing books have 100 % coverage). ? Coverage on Drives: Comprehensive discussion on Actuators (Chapter 3) and Sensors (Chapter 4) which comprise the Drive System of Robots. (This is not present in Craig; Spong and Vidyasagar). ? Coverage on Robot Control: Chapter 10 on Control discusses the Techniques, Types and performance of Control Systems in Robots. (Not present in Niku). ? Coverage on Robot Applications: Chapter 1 also discusses about Social and Industrial applications of Robots. (This is not present in Spong and Vidyasagar). Our book has the following unique features: ? Web based questions : These questions given at the end of each chapter will require students to search on the web to find answers (Not present in competition books). ? MATLAB based exercises : Given at the end of the chapters. Not present in competition books). ? Recursive Inverse Dynamics for Industrial Manipulator (RIDIM) Based exercises- Given in Chapter 9 . (Not present in competition books). ? Case Studies: These discuss several Robot Systems developed by the students over a period of time. It also gives guidelines to build Robot systems by one-self. (Not present in any competition book). ? Text boxes in each chapter with interesting ?Know-How?? or ?Did you know? facts . This retains the interest of the reader as well as provides good-to-know and interesting information. (Not present in any competition book). ? Unique chapter on Recursive Robot Dynamics. Introduces methodology for automatic generation of dynamic algorithms. (Not present in any competition book).