1CHAPTER 1 Foundations of Robotics
24CHAPTER 5 Robotics Mechanisms and Structures
21.1 Overview of Robotics
255.1 Serial vs. Parallel Robots
31.2 Historical Development
265.2 Redundant and Hyper-Redundant Robots
41.3 Types of Robotic Systems
275.3 Mobile Robots and Wheeled Platforms
51.4 Importance and Applications
285.4 Walking and Climbing Robots
6CHAPTER 2 Mechanical Components in Robotics
29CHAPTER 6 Trajectory Planning and Control
72.1 Actuators and Motors
306.1 Path and Trajectory Representation
82.1.1 Electric Motors
316.2 Motion Planning Algorithms
92.1.2 Hydraulic Actuators
326.3 Feedback Control Systems
102.1.3 Pneumatic Actuators
336.4 PID Controllers in Robotics
112.2 Joints and Degrees of Freedom
34CHAPTER 7 Sensors and Perception in Robotics
122.3 End Effectors and Grippers
357.1 Vision Sensors
132.4 Mechanical Sensors in Robotics
367.2 Tactile and Force Sensors
14CHAPTER 3 Kinematics of Robotic Systems
377.3 Range and Proximity Sensors
153.1 Forward Kinematics
387.4 Sensor Fusion for Perception
163.2 Inverse Kinematics
39CHAPTER 8 Robotics Simulation and Modeling
173.3 Jacobian Matrix
408.1 Importance of Simulation
183.4 Singularities in Kinematic Chains
418.2 Modeling Techniques
19CHAPTER 4 Dynamics of Robotic Systems
428.3 Simulation Software
204.1 Newton-Euler Equations
438.4 Validation and Verification
214.2 Lagrange Formulation
44GLOSSARIES
224.3 Dynamic Modeling of Manipulators
45Index
234.4 Control Forces and Torques
