Craig J.J. Introduction to Robotics: Mechanics and Control

2nd edition. — Addison-Wesley, 1989.— xiii, 450 p.— ISBN 0-201-09528-9.The second edition of this highly successful book introduces the science and engineering of mechanical manipulation and provides a complete overview of the fundamental skills underlying the mechanics and control of manipulators. This edition features new material on Controls, Computer-Aided Design and Manufacturing, and Off-Line Programming Systems. Each chapter introduces the fundamentals of a topic and uses specially-designed examples to demonstrate the use of these principles. The first edition was the winner of the Society of Manufacturing Engineers' M. Eugene Merchant Manufacturing Textbook Award.Background.
The mechanics and control of mechanical manipulators.
Notation.
Spatial descriptions and transformations.Descriptions: positions, orientations, and frames.
Mappings; changing descriptions from frame to frame.
Operators: translations, rotations, transformations.
Summary of interpretations.
Transformation arithmetic.
Transform equations.
More on representation of orientation.
Transformation of free vectors.
Computational considerations.
Manipulator kinematics.Link description.
Link connection description.
Convention for affixing frames to links.
Manipulator kinematics.
Actuator space, joint space, and Cartesian space.
Examples: kinematics of two industrial robots.
Frames with standard names.
WHERE is the tool?
Computational considerations.
Inverse manipulator kinematics.Solvability.
The notion of manipulator subspace when n < 6.
Algebraic vs. geometric.
Algebraic solution by reduction to polynomial.
Pieper's solution when three axes intersect.
Examples of inverse manipulator kinematics.
The standard frames.
SOLVE-ing a manipulator.
Repeatability and accuracy.
Computational considerations.
Jacobians: velocities and static forces.Notation for time-varying position and orientation.
Linear and rotational velocity of rigid bodies.
More on angular velocity.
Motion of the links of a robot.
Velocity "propagation" from link to link.
Jacobians.
Singularities.
Static forces in manipulators.
Jacobians in the force domain.
Cartesian transformation of velocities and static forces.
Manipulator dynamics.Acceleration of a rigid body.
Mass distribution.
Newton's equation, Euler's equation.
Iterative Newton-Euler dynamic formulation.
Iterative vs. closed form.
An example of closed form dynamic equations.
The structure of the manipulator dynamic equations.
Lagrangian formulation of manipulator dynamics.
Formulating manipulator dynamics in Cartesian space.
Inclusion of nonrigid body effects.
Dynamic simulation.
Computational considerations.
Trajectory generation.General considerations in path description and generation.
Joint space schemes.
Cartesian space schemes.
Geometric problems with Cartesian paths.
Path Generation at Run Time.
Description of paths with a robot programming language.
Planning paths using the dynamic model.
Collision-free path planning.
Manipulator mechanism design.Basing the design on task requirements.
Kinematic configuration.
Quantitative measures of workspace attributes.
Redundant and closed chain structures.
Actuation schemes.
Stiffness and deflections.
Position sensing.
Force sensing.
Linear control of manipulators.Feedback and closed loop control.
Second-order linear systems.
Control of second-order systems.
Control law partitioning.
Trajectory-following control.
Disturbance rejection.
Continuous vs. discrete time control.
Modeling and control of a single joint.
Architecture of an industrial robot controller.
Nonlinear control of manipulators.Nonlinear and time-varying systems.
Multi-input, multi-output control systems.
The control problem for manipulators.
Practical considerations.
Present industrial robot control systems.
Lyapunov stability analysis.
Cartesian-based control systems.
Adaptive control.
Force control of manipulators.Application of industrial robots to assembly tasks.
A framework for control in partially constrained tasks.
The hybrid position/force control problem.
Force control of a mass-spring.
The hybrid position/force control scheme.
Present industrial robot control schemes.
Robot programming languages and systems.The three levels of robot programming.
A sample application.
Requirements of a robot programming language.
An example application coded m three RPLs.
Problems peculiar to robot programming languages.
Off-line programming systems.Central issues in OLP systems.
CimStation.
Automating subtasks in OLP systems.Appendices.
Trigonometric identities.
The twenty-four angle set conventions.
Some inverse kinematic formulas.