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Introduction to Robotics: A Comprehensive PDF Book by S K Saha
Robotics is a fascinating field that combines engineering, science, and technology to create machines that can perform various tasks. Robotics has applications in many domains, such as manufacturing, healthcare, agriculture, entertainment, and education. But how can one learn robotics? What are the basic concepts and principles of robotics? Where can one find a reliable and accessible source of information on robotics?
introduction to robotics s k saha pdf
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One answer to these questions is the book Introduction to Robotics by S K Saha, a professor of mechanical engineering at IIT Delhi. This book is a comprehensive and student-friendly guide to robotics that covers both the analysis and applications of robotics. The book is available as a PDF file that can be downloaded from the author's website. The book is suitable for a senior undergraduate or first year graduate level course on robotics, as well as for practicing engineers who want to learn more about the feasibility and challenges of using robots for particular applications.
What does the book cover?
The book covers the following topics:
Robot Subsystems and Classifications: This chapter introduces the basic components and functions of a robot, such as actuators, sensors, controllers, and end-effectors. It also discusses the different types and classifications of robots based on their structure, mobility, workspace, and application.
Actuators: This chapter explains the working principles and characteristics of various types of actuators used in robots, such as electric motors, hydraulic cylinders, pneumatic cylinders, and piezoelectric actuators. It also covers the topics of transmission systems, speed-torque curves, and power ratings.
Sensors: This chapter describes the role and types of sensors used in robots, such as position sensors, velocity sensors, force sensors, tactile sensors, vision sensors, and range sensors. It also covers the topics of sensor characteristics, signal conditioning, data acquisition, and sensor fusion.
Transformations: This chapter introduces the mathematical tools and concepts for describing the position and orientation of objects in space, such as vectors, matrices, coordinate systems, homogeneous transformations, Euler angles, quaternions, and Denavit-Hartenberg parameters.
Kinematics: This chapter deals with the analysis of the motion of robots without considering the forces that cause it. It covers the topics of forward kinematics (finding the position and orientation of the end-effector given the joint variables), inverse kinematics (finding the joint variables given the position and orientation of the end-effector), differential kinematics (finding the linear and angular velocities of the end-effector given the joint velocities), and singularity analysis (finding the configurations where the robot loses mobility or dexterity).
Statics: This chapter deals with the analysis of the forces and torques acting on robots at rest or in equilibrium. It covers the topics of static equilibrium equations (finding the joint torques given the external forces), static force analysis (finding the external forces given the joint torques), static stiffness analysis (finding the displacement of the end-effector due to external forces), and payload capacity analysis (finding the maximum load that a robot can carry without violating its torque limits).
Dynamics: This chapter deals with the analysis of the forces and torques acting on robots in motion or out of equilibrium. It covers the topics of dynamic equations of motion (finding
What does the book cover? (Continued)
Control: This chapter deals with the design and implementation of control systems for robots. It covers the topics of feedback control, PID control, linear quadratic regulator (LQR) control, adaptive control, robust control, and nonlinear control.
Motion Planning: This chapter deals with the problem of finding a feasible and optimal path for a robot to move from one configuration to another while avoiding obstacles. It covers the topics of configuration space, potential field method, roadmap method, cell decomposition method, and sampling-based method.
Programming: This chapter deals with the methods and languages for programming robots. It covers the topics of robot programming paradigms, robot programming languages, robot operating systems (ROS), and robot simulation tools.
Industrial Applications: This chapter deals with the examples and case studies of using robots in various industrial sectors, such as manufacturing, welding, painting, assembly, inspection, material handling, and logistics.
What are the features of the book?
The book has several features that make it a valuable and user-friendly resource for learning robotics. Some of these features are:
Clear and concise explanations: The book presents the concepts and principles of robotics in a clear and concise manner, using simple language and illustrations. The book avoids unnecessary mathematical details and focuses on the physical intuition and practical applications of robotics.
Solved and unsolved problems: The book provides numerous solved and unsolved problems at the end of each chapter to test the understanding and application of the concepts. The solved problems also demonstrate how to use MATLAB programs to solve robotics problems.
Online resources: The book provides online resources such as lecture slides, MATLAB codes, video lectures, and additional reading materials on the author's website. The website also allows the readers to interact with the author and other users through a discussion forum.
Conclusion
Robotics is a fascinating and challenging field that requires a multidisciplinary approach and a solid foundation of concepts and principles. Introduction to Robotics by S K Saha is a comprehensive and student-friendly book that covers both the analysis and applications of robotics. The book is available as a PDF file that can be downloaded from the author's website. The book is suitable for anyone who wants to learn robotics, whether as a student, a teacher, or a practitioner. The book provides clear and concise explanations, solved and unsolved problems, MATLAB programs, and online resources to enhance the learning experience. The book is a valuable and user-friendly resource for learning robotics. d282676c82
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