Fundamentals of Robotics

FUNDAMENTALS OF ROBOTICS starts with an introduction to robots and robotics. It then deals with the fundamentals of robot kinematics. Trajectory planning schemes are discussed in Chapter 3. To determine joint torques of serial manipulators, dynamic analysis is then carried out and a suitable control scheme is explained in order to achieve the same. Chapter 5 presents an analysis on wheeled robot. Analysis of biped robot is then carried out in Chapter 6. The working principles of various sensors used in robots are discussed in Chapter 7. Fundamentals of robot vision are explained in chapter 8. Motion planning algorithms are then discussed in Chapter 9. Therefore, this book deals with all four sub-areas of this field, that is, robot kinematics, dynamics, control scheme and issues related to intelligence. It has been written to fulfill the requirements of a large number of readers belonging to various disciplines of engineering. It will be helpful to the students, scientists and practicing engineers.Some special features of this book are as follows:* Easy to understand text* A separate chapter on wheeled robot* A separate chapter on legged robot* A detailed discussion on robot motion planning