Introduction to Robotics / Edition 1

Hardcover (Print)
Rent from
(Save 67%)
Est. Return Date: 06/18/2014
Buy New
Buy New from
Used and New from Other Sellers
Used and New from Other Sellers
from $117.54
Usually ships in 1-2 business days
(Save 20%)
Other sellers (Hardcover)
  • All (15) from $117.54   
  • New (12) from $117.54   
  • Used (3) from $120.41   

More About This Textbook


Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned.
Read More Show Less

Product Details

  • ISBN-13: 9780470604465
  • Publisher: Wiley, John & Sons, Incorporated
  • Publication date: 9/21/2010
  • Edition description: New Edition
  • Edition number: 1
  • Pages: 480
  • Sales rank: 699,154
  • Product dimensions: 7.60 (w) x 9.30 (h) x 0.90 (d)

Table of Contents


Chapter 1 Fundamentals.

1.1 Introduction.

1.2 What Is a Robot?

1.3 Classification of Robots.

1.4 What Is Robotics?

1.5 History of Robotics.

1.6 Advantages and Disadvantages of Robots.

1.7 Robot Components.

1.8 Robot Degrees of Freedom.

1.9 Robot Joints.

1.10 Robot Coordinates.

1.11 Robot Reference Frames.

1.12 Programming Modes.

1.13 Robot Characteristics.

1.14 Robot Workspace.

1.15 Robot Languages.

1.16 Robot Applications.

1.17 Other Robots and Applications.

1.18 Social Issues.




Chapter 2 Kinematics of Robots: Position Analysis.

2.1 Introduction

2.2 Robots as Mechanisms.

2.3 Conventions.

2.4 Matrix Representation.

2.4.1 Representation of a Point in Space.

2.4.2 Representation of a Vector in Space.

2.4.3 Representation of a Frame at the Origin of a Fixed Reference Frame.

2.4.4 Representation of a Frame Relative to a Fixed Reference Frame.

2.4.5 Representation of a Rigid Body.

2.5 Homogeneous Transformation Matrices.

2.6 Representation of Transformations.

2.6.1 Representation of a Pure Translation.

2.6.2 Representation of a Pure Rotation about an Axis.

2.6.3 Representation of Combined Transformations.

2.6.4 Transformations Relative to the Rotating Frame.

2.7 Inverse of Transformation Matrices.

2.8 Forward and Inverse Kinematics of Robots.

2.9 Forward and Inverse Kinematic Equations: Position.

2.9.1 Cartesian (Gantry, Rectangular) Coordinates.

2.9.2 Cylindrical Coordinates.

2.9.3 Spherical Coordinates.

2.9.4 Articulated Coordinates.

2.10 Forward and Inverse Kinematic Equations: Orientation.

2.10.1 Roll, Pitch Yam (RPY) Angles.

2.10.2 Euler Angles.

2.10.3 Articulated Joints.

2.11 Forward and Inverse Kinematic Equations: Position and Orientation.

2.12 Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots.

2.13 The Inverse Kinematic Solution of Robots.

2.13.1 General Solution for Articulated Robot Arms.

2.14 Inverse Kinematic Programming of Robots.

2.15 Degeneracy and Dexterity.

2.15.1 Degeneracy.

2.15.2 Dexterity.

2.16 The Fundamental Problem with the Denavit-Hartenberg Representation.

2.17 Design Projects.

2.17.1 A 3-DOF Robot.

2.17.2 A 3-DOF Mobile Robot.




Chapter 3 Differential Motions and Velocities.

3.1 Introduction.

3.2 Differential Relationships.

3.3 Jacobian.

3.4 Differential versus Large-Scale Motions.

3.5 Differential Motions of a Frame versus a Robot.

3.6 Differential Motions of a Frame.

3.6.1 Differential Translations.

3.6.2 Differential Rotations about the Reference Axes.

3.6.3 Differential Rotation about a General Axis q.

3.6.4 Differential Transformations of a Frame.

3.7 Interpretation of the Differential Change.

3.8 Differential Changes between Frames.

3.9 Differential Motions of a Robot and Its Hand Frame.

3.10 Calculation of the Jacobian.

3.11 How to Relate the Jacobian and the Differential Operator.

3.12 Inverse Jacobian.

3.13 Design Projects.

3.13.1 The 3-DOF Robot.

3.13.2 The 3-DOF Mobile Robot.




Chapter 4 Dynamic Analysis and Forces.

4.1 Introduction.

4.2 Lagrangian Mechanics: A Short Overview.

4.3 Effective Moments of Inertia.

4.4 Dynamic Equations for Multiple-DOF Robots.

4.4.1 Kinetic Energy.

4.4.2 Potential Energy.

4.4.3 The Lagrangian.

4.4.4 Robot's Equations of Motion.

4.5 Static Force Analysis of Robots.

4.6 Transformation of Forces and Moments between Coordinate Frames.

4.7 Design Project.




Chapter 5 Trajectory Planning.

5.1 Introduction.

5.2 Path versus Trajectory.

5.3 Joint-Space versus Cartesian-Space Descriptions.

5.4 Basics of Trajectory Planning.

5.5 Joint-Space Trajectory Planning.

5.5.1 Third-Order Polynomial Trajectory Planning.

5.5.2 Fifth-Order Polynomial Trajectory Planning.

5.5.3 Linear Segments with Parabolic Blends.

5.5.4 Linear Segments with Parabolic Blends and Via Points.

5.5.5 Higher-Order Trajectories.

5.5.6 Other Trajectories.

5.6 Cartesian-Space Trajectories.

5.7 Continuous Trajectory Recording.

5.8 Design Project.




Chapter 6 Motion Control Systems.

6.1 Introduction.

6.2 Basic Components and Terminology.

6.3 Block Diagrams.

6.4 System Dynamics.

6.5 The Laplace Transform.

6.6 Inverse Laplace Transform.

6.6.1 Partial Fraction Expansion when F(s) Involves Only Distinct Poles.

6.6.2 Partial Fraction Expansion when F(s) Involves Repeated Poles.

6.6.3 Partial Fraction Expansion when F(s) Involves Complex Conjugate Poles.

6.7 Transfer Function.

6.8 Block Diagram Algebra.

6.9 Characteristics of First-Order Transfer Functions.

6.10 Characteristics of Second-Order Transfer Functions.

6.11 Characteristic Equation: Pole/Zero Mapping.

6.12 Steady-State Error.

6.13 Root Locus Method.

6.14 Proportional Controllers.

6.15 Proportional-plus-Integral Controllers.

6.16 Proportional-plus-Derivative Controllers.

6.17 Proportional-Integral-Derivative Controller (PID).

6.18 Lead and Lag Compensators.

6.19 The Bode Diagram and Frequency Domain Analysis.

6.20 Open-Loop versus Closed-Loop Applications.

6.21 Multiple-Input and Multiple-Output Systems.

6.22 State-Space Control Methodology.

6.23 Digital Control

6.24 Nonlinear Control Systems.

6.25 Electromechanical Systems Dynamics: Robot Actuation and Control.

6.26 Design Projects.




Chapter 7 Actuators and Drive Systems.

7.1 Introduction.

7.2 Characteristics of Actuating Systems.

7.2.1 Nominal Characteristics-Weight, Power to Weight Ratio, Operating Pressure, Voltage, and Others.

7.2.2 Stiffness versus Compliance.

7.2.3 Use of Reduction Gears.

7.3 Comparison of Actuating Systems.

7.4 Hydraulic Actuators.

7.5 Pneumatic Devices.

7.6 Electric Motors.

7.6.1 Fundamental Differences between AC and DC-Type Motors.

7.6.2 DC Motors.

7.6.3 AC Motors.

7.6.4 Brushless DC Motors.

7.6.5 Direct Drive Electric Motors.

7.6.7 Servomotors.

7.6.8 Stepper Motors.

7.7 Microprocessor Control of Electric Motors.

7.7.1 Pulse Width Modulation.

7.7.2 Direction Control of DC Motors with an H-Bridge.

7.8 Magnetostrictive Actuators.

7.9 Shape-Memory Type Metals.

7.10 Electroactive Polymer Actuators (EAP).

7.11 Speed Reduction.

7.12 Other Systems.

7.13 Design Projects.

7.13.1 Design Project 1.

7.13.2 Design Project 2.

7.13.3 Design Project 3.

7.13.4 Design Project 4.




Chapter 8 Sensors.

8.1 Introduction.

8.2 Sensor Characteristics.

8.3 Sensor Utilization.

8.4 Position Sensors.

8.4.1 Potentiometers.

8.4.2 Encoders.

8.4.3 Linear Variable Differential Transformers (LVDT).

8.4.4 Resolvers.

8.4.5 (Linear) Magnetostrictive Displacement Transducers.

8.4.6 Hall-Effect Sensors.

8.4.7 Other Devices.

8.5 Velocity Sensors.

8.5.1 Encoders.

8.5.2 Tachometers.

8.5.3 Differentiation of Position Signal.

8.6 Acceleration Sensors.

8.7 Force and Pressure Sensors.

8.7.1 Piezoelectric.

8.7.2 Force Sensing Resistor.

8.7.3 Strain Gauge.

8.7.4 Antistatic Foam.

8.8 Torque Sensors.

8.9 Microswitches.

8.10 Visible Light and Infrared Sensors.

8.11 Touch and Tactile Sensors.

8.12 Proximity Sensors.

8.12.1 Magnetic Proximity Sensors.

8.12.2 Optical Proximity Sensors.

8.12.3 Ultrasonic Proximity Sensors.

8.12.4 Inductive Proximity Sensors.

8.12.5 Capacitive Proximity Sensors.

8.12.6 Eddy Current Proximity Sensors.

8.13 Range Finders.

8.13.1 Ultrasonic Range Finders.

8.13.2 Light-Based Range Finders.

8.13.3 Global Positioning System (GPS).

8.14 Sniff Sensors.

8.15 Taste Sensors.

8.16 Vision Systems.

8.17 Voice Recognition Devices.

8.18 Voice Synthesizers.

8.19 Remote Center Compliance (RCC) Device.

8.20 Design Project.



Chapter 9 Image Processing and Analysis with Vision Systems.

9.1 Introduction.

9.2 Basic Concepts.

9.2.1 Image Processing versus Image Analysis.

9.2.2 Two- and Three-Dimensional Image Types.

9.2.3 The Nature of an Image.

9.2.4 Acquisition of Images.

9.2.5 Digital Images.

9.2.6 Frequency Domain versus Spatial Domain.

9.3 Fourier Transform and Frequency Content of a Signal.

9.4 Frequency Content of an Image; Noise, Edges.

9.5 Resolution and Quantization.

9.6 Sampling Theorem.

9.7 Image-Processing Techniques.

9.8 Histogram of Images.

9.9 Thresholding.

9.10 Spatial Domain Operations: Convolution Mask.

9.11 Connectivity.

9.12 Noise Reduction.

9.12.1 Neighborhood Averaging with Convolution Masks.

9.12.2 Image Averaging.

9.12.3 Frequency Domain.

9.12.4 Median Filters.

9.13 Edge Detection.

9.14 Sharpening an Image.

9.15 Hough Transform.

9.16 Segmentation.

9.17 Segmentation by Region Growing and Region Splitting.

9.18 Binary Morphology Operations.

9.18.1 Thickening Operation.

9.18.2 Dilation.

9.18.3 Erosion.

9.18.4 Skeletonization.

9.18.5 Open Operation.

9.18.6 Close Operation.

9.18.7 Fill Operation.

9.19 Gray Morphology Operations.

9.19.1 Erosion.

9.19.2 Dilation.

9.20 Image Analysis.

9.21 Object Recognition by Features.

9.21.1 Basic Features Used for Object Identification.

9.21.2 Moments.

9.21.3 Template Matching.

9.21.4 Discrete Fourier Descriptors.

9.21.5 Computed Tomography (CT).

9.22 Depth Measurement with Vision Systems.

9.22.1 Scene Analysis versus Mapping.

9.22.2 Range Detection and Depth Analysis.

9.22.3 Stereo Imaging.

9.22.4 Scene Analysis with Shading and Sizes.

9.23 Specialized Lighting.

9.24 Image Data Compression.

9.24.1 Intraframe Spatial Domain.

9.24.2 Interframe Coding.

9.24.3 Compression Techniques.

9.25 Color Images.

9.26 Heuristics.

9.27 Applications of Vision Systems.

9.28 Design Project.




Chapter 10 Fuzzy Logic Control.

10.1 Introduction.

10.2 Fuzzy Control: What Is Needed.

10.3 Crisp Values versus Fuzzy Values.

10.4 Fuzzy Sets: Degrees of Membership and Truth.

10.5 Fuzzification.

10.6 Fuzzy Inference Rule Base.

10.7 Defuzzification.

10.7.1 Center of Gravity Method.

10.7.2 Mamdani's Inference Method.

10.8 Simulation of Fuzzy Logic Controller.

10.9 Applications of Fuzzy Logic in Robotics.

10.10 Design Project.




Appendix A Review of Matrix Algebra and Trigonometry.

A.1 Matrix Algebra and Notation: A Review.

A.2 Calculation of an Angle from Its Sine, Cosine, or Tangent.


Appendix B Image Acquisition Systems.

B.1 Vidicon Camera.

B.2 Digital Camera.


Appendix C Root Locus and Bode Diagram with MatlabTM.

C.1 Root Locus.

C.2 Bode Diagram.

Appendix D Simulation of Robots with Commercial Software.


Read More Show Less

Customer Reviews

Be the first to write a review
( 0 )
Rating Distribution

5 Star


4 Star


3 Star


2 Star


1 Star


Your Rating:

Your Name: Create a Pen Name or

Barnes & Review Rules

Our reader reviews allow you to share your comments on titles you liked, or didn't, with others. By submitting an online review, you are representing to Barnes & that all information contained in your review is original and accurate in all respects, and that the submission of such content by you and the posting of such content by Barnes & does not and will not violate the rights of any third party. Please follow the rules below to help ensure that your review can be posted.

Reviews by Our Customers Under the Age of 13

We highly value and respect everyone's opinion concerning the titles we offer. However, we cannot allow persons under the age of 13 to have accounts at or to post customer reviews. Please see our Terms of Use for more details.

What to exclude from your review:

Please do not write about reviews, commentary, or information posted on the product page. If you see any errors in the information on the product page, please send us an email.

Reviews should not contain any of the following:

  • - HTML tags, profanity, obscenities, vulgarities, or comments that defame anyone
  • - Time-sensitive information such as tour dates, signings, lectures, etc.
  • - Single-word reviews. Other people will read your review to discover why you liked or didn't like the title. Be descriptive.
  • - Comments focusing on the author or that may ruin the ending for others
  • - Phone numbers, addresses, URLs
  • - Pricing and availability information or alternative ordering information
  • - Advertisements or commercial solicitation


  • - By submitting a review, you grant to Barnes & and its sublicensees the royalty-free, perpetual, irrevocable right and license to use the review in accordance with the Barnes & Terms of Use.
  • - Barnes & reserves the right not to post any review -- particularly those that do not follow the terms and conditions of these Rules. Barnes & also reserves the right to remove any review at any time without notice.
  • - See Terms of Use for other conditions and disclaimers.
Search for Products You'd Like to Recommend

Recommend other products that relate to your review. Just search for them below and share!

Create a Pen Name

Your Pen Name is your unique identity on It will appear on the reviews you write and other website activities. Your Pen Name cannot be edited, changed or deleted once submitted.

Your Pen Name can be any combination of alphanumeric characters (plus - and _), and must be at least two characters long.

Continue Anonymously

    If you find inappropriate content, please report it to Barnes & Noble
    Why is this product inappropriate?
    Comments (optional)