Robotics and Control by RK Mittal
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Robotics Book By R K Mittal and I J Nagrath
Robotics and Control
The book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators. # Detailed chapter on Velocity Transformations, jacobian and Singularities. # Trajectory Planning is developed using both joint space and Cartesian space methods.
Table of contents :
Chapter 1 Introduction to Robotics
Chapter 2 Coordinate Frames, Mapping and Transforms
Chapter 3 Symbolic Modeling of Robots ? Direct Kinematic Model
Chapter 4 The Inverse Kinematics
Chapter 5 Manipulator Differential Motion and Statics
Chapter 6 Dynamic Modeling
Chapter 7 Trajectory Planning
Chapter 8 Control of Manipulators
Chapter 9 Robotics Sensors and Vision
Chapter 10 Robot Applications
Book Topics :
Robot Dynamics: Lagrangian Mechanics, Lagrangian Formulation and numericals. Dynamics, Newton-Euler Recursive Algorithm, Simulation. Euler-Lagrange Equations of motion/Any one other formulation like using Decoupled Natural Orthogonal Complements (DeNOC)
End effectors: Mechanical and other types of grippers. Tools as end effectors. Robot and effector interface. Gripper selection and design.
Applications for Manufacturing. Flexible automation. Robot cell layouts. Machine interference. Other considerations in work cell design. Work cell control, interlocks. Robot cycle time analysis. Mechanical design of robot links.
Typical applications of robots in material transfer, machine loading/unloading; processing operations; assembly and inspection.
Material Transfer Application
Assembly and Inspection
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