Fundamentals of Robotics Engineering

I: An Overview of Robotics.- 1. Introduction.- 1.1 Brief History of Robotics.- 1.2 Working Definition of Robot.- 1.3 Growth of the Industry.- 1.4 Introduction to Robotics Engineering.- 2. Types of Robots.- 2.1 Classification by Degrees of Freedom.- 2.2 Classification by Robot Motion.- 2.3 Classification by Platform.- 2.4 Classification by Power Source.- 2.5 Classification by Intelligence.- 2.6 Classification by Application Area.- II: Robotic Technology.- 3. Introduction to Robot Mechanics.- 3.1 Robot Arm Kinematics.- 3.2 End-Effectors.- 3.3 Dynamic Considerations.- 3.4 Obstacle Avoidance.- 4. Robot Electronic Design.- 4.1 Robot Electronic Subsystems.- 4.2 Robot External Sensing Systems.- 4.3 Motor System Design.- 4.4 Servo System Design.- 4.5 Hall-Effect Technology.- 5. Robotic Sensors.- 5.1 Internal Sensors.- 5.2 External Sensors.- 5.3 Sensor Processing.- 6. Vision Systems.- 6.1 Human Vision Considerations.- 6.2 Machine Vision Approaches.- 6.3 Image Acquisition.- 6.4 Image Analysis.- 6.5 Summary of the State of the Art.- 6.6 Applications and Available Systems.- 6.7 Ranging Techniques.- 7. Ultrasonic Systems.- 7.1 Sonar Fundamentals.- 7.2 Theoretical Acoustics.- 7.3 Practical Considerations.- 7.4 Advanced Considerations.- 7.5 Ultrasonics in Bats.- 7.6 System Considerations.- 7.7 Applications.- 8. Mobile Robots.- 8.1 Approaches to Mobility.- 8.2 Design Considerations.- 8.3 Locomotion.- 8.4 Steering.- 8.5 Power and Stability.- 8.6 Intelligence.- 8.7 Error Considerations.- 8.8 Current Applications.- III: Computer Hardware and Software.- 9. Computers for Robots.- 9.1 History.- 9.2 Functions.- 9.3 Program Entry.- 9.4 Computer Hardware.- 9.5 Program Tasks.- 9.6 Robot Simulation.- 9.7 Work Cell Considerations.- 9.8 Other Hardware Considerations.- 10. Robot Languages.- 10.1 Early Languages.- 10.2 Current Languages.- 10.3 Language Command Review.- 10.4 Program Example.- 10.5 Language Approaches and Limitations.- 11. Robot Intelligence.- 11.1 Application of AI.- 11.2 Techniques.- 11.3 Vision System Research.- 11.4 AI Language.- 11.5 Applications.- IV: Robotic Applications.- 12. Robot Standards.- 12.1 Japan Industrial Robot Safety Standards.- 12.2 RIA Standards Program.- 12.3 Testing Standards.- 12.4 Other Standards Activity.- 12.5 Device Communication Standards.- 12.6 Network Standards.- 12.7 Safety.- 13. Applications Engineering.- 13.1 Systems Analysis.- 13.2 System Example.- 13.3 Work Cell Systems.- 13.4 Safety in the Plant.- 14. Application-Oriented Requirements.- 14.1 Application-Oriented Requirements.- 14.2 Clean-Room Environments.- 14.3 Mobile Robot Requirements.- V: Future Considerations.- 15. Trends in Robotic Systems.- 15.1 Current Research Projects.- 15.2 Surveys and Predictions.- 15.3 Technological Trends.- 15.4 Predictions.- 16. New Technology.- 16.1 Natural Language Processing.- 16.2 Speech Recognition.- 16.3 Walking Vehicles (legged Locomotion).- 16.4 Collision Avoidance.- 16.5 Neural Network Computing.- 17. New Application Areas.- 17.1 Tasks for Robots.- 17.2 Current Applications.- 17.3 Future Robotics Applications.- Appendix 1: Robotic Systems Manufacturers.- Appendix 2: Major University Robotics Laboratories.- Appendix 3: International Robotics Organizations.