Introduction to Robotics [electronic resource] /

1 General Introduction to Robots -- 1.1 Dedication and Classification of Robotic Systems -- 1.2 General Features of Robotic Mechanisms and their Classification -- References -- 2 Manipulator Kinematic Model -- 2.1 Introduction -- 2.2 Definitions -- 2.3 Direct Kinematic Problem -- 2.4 Inverse Kinematic Problem -- 2.5 Manipulator Path Generation -- 2.6 Conclusion -- References -- 3 Dynamics and Dynamic Analysis of Manipulation Robots -- 3.1 Introduction -- 3.2 Mathematical Model of Manipulation Robot Dynamics -- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact -- 3.4 Dynamics of Robots Under Action of External Reaction Forces -- References -- 4 Control of Robots -- 4.1 Hierarchical Control of Robots -- 4.2 Control of a Single Joint of a Robot -- 4.3 Control of Simultaneous Motion of Several Robot Joints -- 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots -- 4.5 Control of Robots in Assembly Tasks -- References -- 5 Microprocessor Implementation of Control Algorithms -- 5.1 Introduction -- 5.2 Basic Subsystems of Modern Robot Controllers -- 5.3 Program Modules -- 5.4 Conclusion -- References -- 6 Industrial Robot Programming Systems -- 6.1 Introduction -- 6.2 Describing the Motion -- 6.3 Sensory Data Processing -- 6.4 Synchronization -- 6.5 Implementations of Robot Programming Systems -- 6.6 Robot Programming Examples -- 6.7 Additional Reading -- References -- 7 Sensors in Robotics -- 7.1 Positional Sensors -- 7.2 Environment Sensors -- 7.3 Robot Vision -- References -- 8 Elements, Structures and Application of Industrial Robots -- 8.1 Basic Postulates of Industrial Robot Design -- 8.2 Design Solutions of Main Robot Sub-assemblies -- 8.3 Examples of Industrial Robot Applications -- References -- 9 Robotics and Flexible Automation Systems -- 9.1 Introduction -- 9.2 Functional Structure of Flexible Automation Systems -- 9.3 Control of Flexible Automation Systems -- 9.4. Hardware and Software Requirements for FAS -- References -- Appendix A.9 Coloured Petri Nets -- A.9.1 General Notions on Petri Nets -- A.9.2 Execution Rules of Petri Nets -- A.9.3 Non-primitive Coloured Petri Nets -- A.9.4 Normalized Coloured Petri Nets -- References.