This book serves as an introduction to various important aspects of a robotic system, the industrial robots, in particular. It is presented in a reasonably casual of and easy-to-follow manner and primarily intended to complement a specialised course at upper years undergraduate and entry level postgraduate study programmes. It begins with a comprehensive overview and fundamental accounts of an industrial robot and its components as an excellent mechatronic system. The topics on the manipulator’s kinematics, statics, and dynamics are subsequently described and deliberately arranged in two chapters to enrich the readers’ analytical skills in designing mechanical and actuation elements of a robotic system.
The robot control part is presented where various control algorithms and techniques are depicted and explained. With sound knowledge of robot models and their interacting environments, a practical robot control scheme can be conveniently designed, developed, and simulated by considering varied operating and loading conditions. The manipulator’s end-effector (a gripper or tooling device) and its path/ trajectory planning for the programmed motion in space is discussed to relate the importance of the device in accomplishing the robot task. A specialised section on mobile robotics is presented in the final chapter to further project the diversity and potentials of the robotic systems.
This book provides a number of exercises at the end of each chapter to enhance the readers’ understanding and appreciation of the subject matters discussed. A glossary of common robotic terms is also provided for quick and easy reference.