السلام عليكم ورحمه الله وبركاته
Fundamentals of Robotic Mechanical Systems
ISBN: 038795368X
Author: Jorge Angeles
Publisher: Springer
Edition: 2 edition (October 16, 2002)
Pages: 536 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/038795368X
Summary:
Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition). This new edition has been revised and updated throughout.
Written for:
Graduate students, advanced undergraduates
[LINE]hr[/LINE]
Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents)
ISBN: 026219502X
Author: Roland Siegwart / Illah R. Nourbakhsh
Publisher: The MIT Press
Edition: (April 1, 2004)
Pages: 331 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/026219502X
Summary:
Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility -- the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks -- including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.
The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotory ability, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data. The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for coursework or a working tool for beginners in the field.
[LINE]hr[/LINE]
Introductory Robotics
Introductory Robotics
ISBN: 0134888839
Author: Jon Selig
Publisher: Prentice Hall
Edition: (February, 1992)
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0134888839
Content:
Preface vii
1 Introduction
1.1 What is Robotics?
1.2 Popular Robotics
1.3 History of the Technology
1.4 Looking Ahead
2 Rigid Transformations
2.1 Rotations and Translations in 2-D
2.2 General Rigid Motions in 2-D
2.3 Centres of Rotation
2.4 Rotations about the Origin in 3-D
2.5 General 3-D Rotations
2.6 General Rigid Motions in 3-D
3 Robot Anatomy
3.1 Links
3.2 Joints
3.3 Geometric Design
3.4 Co-ordinate Frames
4 Kinematics
4.1 The Planar Manipulator
4.2 The 3-R Wrist
4.3 Design Parameters
4.4 ?A?- Matrices for the Puma Robot
Contents
5 Inverse Kinematics
5.1 The Planar Manipulator
5.2 Postures
5.3 The 3-R Wrist
5.4 The First Three Joints of the Puma
5.5 The Last Three Joints of the Puma
5.6 Inverse Kinematics of the Puma
5.7 Parallel Manipulators
6 Jacobians
6.1 Linearized Kinematics
6.2 Errors
6.3 Numerical Methods
6.4 Linear Velocities
6.5 Angular Velocities
6.6 Combining Linear and Angular Velocities
7 Trajectory Following
7.1 Following Paths
7.2 Linear Approximations
7.3 Polynomial Approximations
7.4 Matching Derivatives
8 Statics
8.1 Forces and Torques
8.2 Gripping
8.3 Duality Between Wrenches and Screws
8.4 Compliance
9 Dynamics
9.1 Newtonian Mechanics
9.2 Moments of Inertia
9.3 Time Derivatives of the Inertia
9.4 OneLink
9.5 l b o Links
9.6 Many Links
9.7 Recursive Equations of Motion
10 Solutions to Exercises
Index
[LINE]hr[/LINE]
Multiagent Robotic Systems
ISBN: 084932288x
Author: Jiming Liu / Jianbing Wu
Publisher: CRC Press
Edition: (May 30, 2001)
Pages: 328 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/084932288x
Summary:
Balanced emphasis on recent, pioneering work, theoretical and computational aspects, and experimental, practical issues
Introduction to adaptive behavior-based control architecture and underlying learning and adaptation mechanisms
A unified engineering oriented approach toward the use and development of autonomous group robots
Graphs and illustrations highlight important principles
Implementation details, examples, and case studies
Complete source code for a multiagent system simulations tool available on the CRC web site
Providing a guided tour of the pioneering work and major technical issues, Multiagent Robotic Systems addresses learning and adaptation in decentralized autonomous robots. Its systematic examination demonstrates the interrelationships between the autonomy of individual robots and the emerged global behavior properties of a group performing a cooperative task. The author also includes descriptions of the essential building blocks of the architecture of autonomous mobile robots with respect to their requirement on local behavioral conditioning and group behavioral evolution.After reading this book you will be able to fully appreciate the strengths and usefulness of various approaches in the development and application of multiagent robotic systems. It covers:
Why and how to develop and experimentally test the computational mechanisms for learning and evolving sensory-motor control behaviors in autonomous robots
How to design and develop evolutionary algorithm-based group behavioral learning mechanisms for the optimal emergence of group behaviors
How to enable group robots to converge to a finite number of desirable task states through group learning
What are the effects of the local learning mechanisms on the emergent global behaviors
How to use decentralized, self-organizing autonomous robots to perform cooperative tasks in an unknown environment
Earlier works have focused primarily on how to navigate in a spatially unknown environment, given certain predefined motion behaviors. What is missing, however, is an in-depth look at the important issues on how to effectively obtain such behaviors in group robots and how to enable behavioral learning and adaptation at the group level. Multiagent Robotic Systems examines the key methodological issues and gives you an understanding of the underlying computational models and techniques for multiagent systems.
[LINE]hr[/LINE]
Robotics : Designing the Mechanisms for Automated Machinery
ISBN: 0126185204
Author: Ben Zion Sandler
Publisher: Academic Press
Edition: 2 edition (April 28, 1999)
Pages: 433 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0126185204
Summary:
Robotics, Second Edition is an essential addition to the toolbox of any engineer or hobbyist involved in the design of any type of robot or automated mechanical system. It is the only book available that takes the reader through a step-by step design process in this rapidly advancing specialty area of machine design.
This book provides the professional engineer and student with important and detailed methods and examples of how to design the mechanical parts of robots and automated systems. Most robotics and automation books today emphasis the electrical and control aspects of design without any practical coverage of how to design and build the components, the machine or the system. The author draws on his years of industrial design experience to show the reader the design process by focusing on the real, physical parts of robots and automated systems.
* Answers the questions: How are machines built? How do they work? How does one best approach the design process for a specific machine?
* Thoroughly updated with new coverage of modern concepts and techniques, such as rapid modeling, automated assembly, parallel-driven robots and mechatronic systems
* Calculations for design completed with Mathematica which will help the reader through its ease of use, time-saving methods, solutions to nonlinear equations, and graphical display of design processes
* Use of real-world examples and problems that every reader can understand without difficulty
* Large number of high-quality illustrations
* Self-study and homework problems are integrated into the text along with their solutions so that the engineering professional and the student will each find the text very useful
[LINE]hr[/LINE]
Robots, Androids and Animatrons, Second Edition : 12 Incredible Projects You Can Build
Robots, Androids and Animatrons, Second Edition : 12 Incredible Projects You Can Build
ISBN: 0071376836
Author: John Iovine
Publisher: McGraw-Hill/TAB Electronics
Edition: 2 edition (October 29, 2001)
Pages: 270 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0071376836
Summary:
Bring a robot to life without programming or assembly language skills!
There?s never been a better time to explore the world of the nearly human. With the complete directions supplied by popular electronics author John Iovine, you can:
Build your first walking, talking, sensing, thinking robot
Create 12 working robotic projects, using the fully illustrated instructions provided
Get the best available introduction to robotics, motion control, sensors, and neural intelligence
Put together basic modules to build sophisticated robots of your own design
Construct a robotic arm that responds to your spoken commands
Build a realistic, functional robotic hand
Apply sensors to detect bumps, walls, inclines , and roads
Give your robot expertise and neural intelligence
You geteverything you need to create 12 exciting robotic projects using off-the-shelf products and workshop-built devices, including a complete parts list. Also ideal for anyone interested in electronic and motion control, this cult classic gives you the building blocks you need to go practically anywhere in robotics.
Fundamentals of Robotic Mechanical Systems
ISBN: 038795368X
Author: Jorge Angeles
Publisher: Springer
Edition: 2 edition (October 16, 2002)
Pages: 536 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/038795368X
Summary:
Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition). This new edition has been revised and updated throughout.
Written for:
Graduate students, advanced undergraduates
[LINE]hr[/LINE]
Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents)
ISBN: 026219502X
Author: Roland Siegwart / Illah R. Nourbakhsh
Publisher: The MIT Press
Edition: (April 1, 2004)
Pages: 331 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/026219502X
Summary:
Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility -- the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks -- including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.
The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotory ability, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data. The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for coursework or a working tool for beginners in the field.
[LINE]hr[/LINE]
Introductory Robotics
Introductory Robotics
ISBN: 0134888839
Author: Jon Selig
Publisher: Prentice Hall
Edition: (February, 1992)
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0134888839
Content:
Preface vii
1 Introduction
1.1 What is Robotics?
1.2 Popular Robotics
1.3 History of the Technology
1.4 Looking Ahead
2 Rigid Transformations
2.1 Rotations and Translations in 2-D
2.2 General Rigid Motions in 2-D
2.3 Centres of Rotation
2.4 Rotations about the Origin in 3-D
2.5 General 3-D Rotations
2.6 General Rigid Motions in 3-D
3 Robot Anatomy
3.1 Links
3.2 Joints
3.3 Geometric Design
3.4 Co-ordinate Frames
4 Kinematics
4.1 The Planar Manipulator
4.2 The 3-R Wrist
4.3 Design Parameters
4.4 ?A?- Matrices for the Puma Robot
Contents
5 Inverse Kinematics
5.1 The Planar Manipulator
5.2 Postures
5.3 The 3-R Wrist
5.4 The First Three Joints of the Puma
5.5 The Last Three Joints of the Puma
5.6 Inverse Kinematics of the Puma
5.7 Parallel Manipulators
6 Jacobians
6.1 Linearized Kinematics
6.2 Errors
6.3 Numerical Methods
6.4 Linear Velocities
6.5 Angular Velocities
6.6 Combining Linear and Angular Velocities
7 Trajectory Following
7.1 Following Paths
7.2 Linear Approximations
7.3 Polynomial Approximations
7.4 Matching Derivatives
8 Statics
8.1 Forces and Torques
8.2 Gripping
8.3 Duality Between Wrenches and Screws
8.4 Compliance
9 Dynamics
9.1 Newtonian Mechanics
9.2 Moments of Inertia
9.3 Time Derivatives of the Inertia
9.4 OneLink
9.5 l b o Links
9.6 Many Links
9.7 Recursive Equations of Motion
10 Solutions to Exercises
Index
[LINE]hr[/LINE]
Multiagent Robotic Systems
ISBN: 084932288x
Author: Jiming Liu / Jianbing Wu
Publisher: CRC Press
Edition: (May 30, 2001)
Pages: 328 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/084932288x
Summary:
Balanced emphasis on recent, pioneering work, theoretical and computational aspects, and experimental, practical issues
Introduction to adaptive behavior-based control architecture and underlying learning and adaptation mechanisms
A unified engineering oriented approach toward the use and development of autonomous group robots
Graphs and illustrations highlight important principles
Implementation details, examples, and case studies
Complete source code for a multiagent system simulations tool available on the CRC web site
Providing a guided tour of the pioneering work and major technical issues, Multiagent Robotic Systems addresses learning and adaptation in decentralized autonomous robots. Its systematic examination demonstrates the interrelationships between the autonomy of individual robots and the emerged global behavior properties of a group performing a cooperative task. The author also includes descriptions of the essential building blocks of the architecture of autonomous mobile robots with respect to their requirement on local behavioral conditioning and group behavioral evolution.After reading this book you will be able to fully appreciate the strengths and usefulness of various approaches in the development and application of multiagent robotic systems. It covers:
Why and how to develop and experimentally test the computational mechanisms for learning and evolving sensory-motor control behaviors in autonomous robots
How to design and develop evolutionary algorithm-based group behavioral learning mechanisms for the optimal emergence of group behaviors
How to enable group robots to converge to a finite number of desirable task states through group learning
What are the effects of the local learning mechanisms on the emergent global behaviors
How to use decentralized, self-organizing autonomous robots to perform cooperative tasks in an unknown environment
Earlier works have focused primarily on how to navigate in a spatially unknown environment, given certain predefined motion behaviors. What is missing, however, is an in-depth look at the important issues on how to effectively obtain such behaviors in group robots and how to enable behavioral learning and adaptation at the group level. Multiagent Robotic Systems examines the key methodological issues and gives you an understanding of the underlying computational models and techniques for multiagent systems.
[LINE]hr[/LINE]
Robotics : Designing the Mechanisms for Automated Machinery
ISBN: 0126185204
Author: Ben Zion Sandler
Publisher: Academic Press
Edition: 2 edition (April 28, 1999)
Pages: 433 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0126185204
Summary:
Robotics, Second Edition is an essential addition to the toolbox of any engineer or hobbyist involved in the design of any type of robot or automated mechanical system. It is the only book available that takes the reader through a step-by step design process in this rapidly advancing specialty area of machine design.
This book provides the professional engineer and student with important and detailed methods and examples of how to design the mechanical parts of robots and automated systems. Most robotics and automation books today emphasis the electrical and control aspects of design without any practical coverage of how to design and build the components, the machine or the system. The author draws on his years of industrial design experience to show the reader the design process by focusing on the real, physical parts of robots and automated systems.
* Answers the questions: How are machines built? How do they work? How does one best approach the design process for a specific machine?
* Thoroughly updated with new coverage of modern concepts and techniques, such as rapid modeling, automated assembly, parallel-driven robots and mechatronic systems
* Calculations for design completed with Mathematica which will help the reader through its ease of use, time-saving methods, solutions to nonlinear equations, and graphical display of design processes
* Use of real-world examples and problems that every reader can understand without difficulty
* Large number of high-quality illustrations
* Self-study and homework problems are integrated into the text along with their solutions so that the engineering professional and the student will each find the text very useful
[LINE]hr[/LINE]
Robots, Androids and Animatrons, Second Edition : 12 Incredible Projects You Can Build
Robots, Androids and Animatrons, Second Edition : 12 Incredible Projects You Can Build
ISBN: 0071376836
Author: John Iovine
Publisher: McGraw-Hill/TAB Electronics
Edition: 2 edition (October 29, 2001)
Pages: 270 pages
URL: http://www.amazon.com/exec/obidos/redirect?tag=songstech-20&path=ASIN/0071376836
Summary:
Bring a robot to life without programming or assembly language skills!
There?s never been a better time to explore the world of the nearly human. With the complete directions supplied by popular electronics author John Iovine, you can:
Build your first walking, talking, sensing, thinking robot
Create 12 working robotic projects, using the fully illustrated instructions provided
Get the best available introduction to robotics, motion control, sensors, and neural intelligence
Put together basic modules to build sophisticated robots of your own design
Construct a robotic arm that responds to your spoken commands
Build a realistic, functional robotic hand
Apply sensors to detect bumps, walls, inclines , and roads
Give your robot expertise and neural intelligence
You geteverything you need to create 12 exciting robotic projects using off-the-shelf products and workshop-built devices, including a complete parts list. Also ideal for anyone interested in electronic and motion control, this cult classic gives you the building blocks you need to go practically anywhere in robotics.
