1st Edition

Robotics and Automation Handbook

Edited By Thomas R. Kurfess Copyright 2005
    602 Pages 327 B/W Illustrations
    by CRC Press

    As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error.

    The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system.

    With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.

    The History of Robotics, Wesley L. Stone
    Rigid-Body Kinematics, Gregorg S. Chirikjian
    Inverse Kinematics, Bill Goodwine
    Newton-Euler Dynamics of Robots, Mark L. Nagurka
    Lagrangian Dynamics, Milo?s ? Zefran and Francesco Bullo
    Kane's Method in Robotics, Keith W. Buffinton
    The Dynamics of Systems of Interacting Rigid Bodies, Kenneth A. Loparo and Ioannis S. Vakalis
    D-H Convention, Jaydev P. Desai
    Trajectory Planning for Flexible Robots, William E. Singhose
    Error Budgeting, Daniel D. Frey
    Design of Robotic End Effectors, Hodge Jenkins
    Sensors, Jeanne Sullivan Falcon
    Precision Positioning of Rotary and Linear Systems, Stephen Ludwick
    Modeling and Identification for Robot Motion Control, Dragan Kosti´c, Bram de Jager, and Maarten Steinbuch
    Motion Control by Linear Feedback Methods, Dragan Kosti´c, Bram de Jager, and Maarten Steinbuch
    Force/Impedance Control for Robotic Manipulators, Siddharth P. Nagarkatti and Darren M. Dawson
    Robust and Adaptive Motion Control of Manipulators, Mark W. Spong
    Sliding Mode Control of Robotic Manipulators, Hector M. Gutierrez
    Impedance and Interaction Control, Neville Hogan and Stephen P. Buerger
    Coordinated Motion Control of Multiple Manipulators, Kazuhiro Kosuge and Yasuhisa Hirata
    Robot Simulation, Lonnie J. Love
    Survey of Geometric Vision, Kun Huang and Yi Ma
    Haptic Interface to Virtual Environments, R. Brent Gillespie
    Flexible Robot Arms, Wayne J. Book
    Robotics in Medical Applications, Chris A. Raanes and Mohan Bodduluri
    Manufacturing Automation, Hodge Jenkins


    Thomas R. Kurfess

    "This is a wonderful reference for designing, modeling, controlling, and interfacing robotics…well presented…provides a great foundation relating manipulator tasks, design, and control…Modern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples."
    - International Journal of Engineering Education, October 2005