Test Banks For Introduction to Robotics: Mechanics and Control 4th Edition by John J. Craig, 9780133489798, Chapter 1-13 Complete Guide

Introduction to Robotics: Mechanics and Control 4th Edition 9798 9835 1 Introduction 1.1 Background 1.2 The Mechanics and Control of Mechanical Manipulators 1.3 Notation 2 Spatial Descriptions and Transformations 2.1 Introduction 2.2 Descriptions: Positions, Orientations, and Frames 2.3 Mappings: Changing Descriptions from Frame to Frame 2.4 Operators: Translations, Rotations, and Transformations 2.5 Summary of Interpretations 2.6 Transformation Arithmetic 2.7 Transform Equations 2.8 More on Representation of Orientation 2.9 Transformation of Free Vectors 2.10 Computational Considerations 3 Manipulator Kinematics 3.1 Introduction 3.2 Link Description 3.3 Link-Connection Description 3.4 Convention for Affixing Frames to Links 3.5 Manipulator Kinematics 3.6 Actuator Space, Joint Space, and Cartesian Space 3.7 Examples: Kinematics of Two Industrial Robots 3.8 Frames with Standard Names 3.9 Where is the Tool? 3.10 Computational Considerations 4 Inverse Manipulator Kinematics 4.1 Introduction 4.2 Solvability 4.3 The Notion of Manipulator Subspace When n<6 4.4 Algebraic vs. Geometric 4.5 Algebraic Solution by Reduction to Polynomial 4.6 Pieper’s Solution When Three Axes Intersect 4.7 Examples of Inverse Manipulator Kinematics 4.8 The Standard Frames 4.9 Solve-ing a Manipulator 4.10 Repeatability and Accuracy 4.11 Computational Considerations 5 Jacobians: Velocities and Static Forces 5.1 Introduction 5.2 Notation for Time-Varying Position and Orientation 5.3 Linear and Rotational Velocity of Rigid Bodies 5.4 More on Angular Velocity 5.5 Motion of the Links of a Robot 5.6 Velocity “Propagation” from Link to Link 5.7 Jacobians 5.8 Singularities 5.9 Static Forces in Manipulators 5.10 Jacobians in the Force Domain 5.11 Cartesian Transformation of Velocities and Static Forces 6 Manipulator Dynamics 6.1 Introduction 6.2 Acceleration of a Rigid Body 6.3 Mass Distribution 6.4 Newton’s Equation, Euler’s Equation 6.5 Iterative Newton Euler Dynamic Formulation 6.6 Iterative vs. Closed Form 6.7 An Example of Closed-Form Dynamic Equations 6.8 The Structure of a Manipulator’s Dynamic Equations 6.9 Lagrangian Formulation of Manipulator Dynamics 6.10 Formulating Manipulator Dynamics in Cartesian Space 6.11 Inclusion of Nonrigid Body Effects 6.12 Dynamic Simulation 6.13 Computational Considerations 7 Trajectory Generation 7.1 Introduction 7.2 General Considerations in Path Description and Generation 7.3 Joint-Space Schemes 7.4 Cartesian-Space Schemes 7.5 Geometric Problems with Cartesian Paths 7.6 Path Generation at Run Time 7.7 Description of Paths with a Robot Programming Language 7.8 Planning Paths When Using the Dynamic Model 7.9 Collision-Free Path Planning 8 Manipulator-Mechanism Design 8.1 Introduction 8.2 Basing the Design on Task Requirements 8.3 Kinematic Configuration 8.4 Quantitative Measures of Workspace Attributes 8.5 Redundant and Closed-Chain Structures 8.6 Actuation Schemes 8.7 Stiffness and Deflections 8.8 Position Sensing 8.9 More on Optical Encoders 8.10 Force Sensing 9 Linear Control of Manipulators 9.1 Introduction 9.2 Feedback and Closed-Loop Control 9.3 Second-Order Linear Systems 9.4 Control of Second-Order Systems 9.5 Control-Law Partitioning 9.6 Trajectory-Following Control 9.7 Disturbance Rejection 9.8 Continuous vs. Discrete Time Control 9.9 Modeling and Control of a Single Joint 9.10 Architecture of an Industrial-Robot Controller 10 Nonlinear Control of Manipulators 10.1 Introduction 10.2 Nonlinear and Time-Varying Systems 10.3 Multi-Input, Multi-Output Control Systems 10.4 The Control Problem for Manipulators 10.5 Practical Considerations 10.6 Current Industrial-Robot Control Systems 10.7 Lyapunov Stability Analysis 10.8 Cartesian-Based Control Systems 10.9 Adaptive Control 11 Force Control of Manipulators 11.1 Introduction 11.2 Application of Industrial Robots to Assembly Tasks 11.3 A Framework for Control in Partially Constrained Tasks 11.4 The Hybrid Position/Force Control Problem 11.5 Force Control of a Mass Spring System 11.6 The Hybrid Position/Force Control Scheme 11.7 Current Industrial-Robot Control Schemes 12 Robot Programming Languages and Systems 12.1 Introduction 12.2 The Three Levels of Robot Programming 12.3 A Sample Application 12.4 Requirements of a Robot Programming Language 12.5 Problems Peculiar to Robot Programming Languages 13 Off-Line Programming Systems 13.1 Introduction 13.2 Central Issues in OLP Systems