Basics of Robotics: Theory and Components of Manipulators and Robots (CISM International Centre for Mechanical Sciences, 402)

This volume contains the basic concepts of modern robotics, basic definitions, systematics of robots in industry, service, medicine and underwater activity. Important information on walking and mili-walking machines are included as well as possible applications of microrobots in medicine, agriculture, underwater activity. Front Matter....Pages II-2 Introduction....Pages 3-8 Basic Concepts, Definitions and Systematization of Manipulators and Robots....Pages 9-33 Manipulator Kinematics....Pages 34-54 The Inverse Kinematics of Manipulators....Pages 55-90 Statics and Dynamics of Manipulators....Pages 91-124 Geometrical and Functional Characteristics and Manipulator Motion Planning....Pages 125-152 Platform Parallel Manipulators....Pages 153-196 Manipulator and Robot Grippers....Pages 197-222 Drives and Mechanisms Used in Robots....Pages 223-274 Sensors and Transducers Used in Robots....Pages 275-304 Control of Manipulators....Pages 305-318 Robot Task Planning....Pages 319-377 Robots and Manipulators for Underwater Operation....Pages 379-404 Industrial Robotics....Pages 405-432 Rehabilitation Manipulators....Pages 433-461 Elastic Manipulators....Pages 463-506 Walking Machines....Pages 507-552 Microrobotics....Pages 553-580 This text presents the basic concepts of modern robotics and systematics of robotics in industry, service, medicine and underwater activity