Preface 1: Introduction to Automation and Robotics 1.1 Automatic systems and robots 1.2 Evolution and applications of robots1.3 Examples and technical characteristics of industrial robots1.4 Evaluation of a robotization 1.4.1 An economic estimation 1.5 Forum for discussions on Robotics 2: Analysis of Manipulations 2.
1 Decomposition of manipulative actions 2.2 A procedure for analyzing manipulation tasks 2.3 Programming for robots 2.3.1 A programming language for robots: VAL II 2.3.2 A programming language for robots: ACL 2.4 Illustrative examples 2.
4.1 Education practices 2.4.1.1 Simulation of an industrial process 2.4.1.2 Writing with a robot 2.
4.1.3 An intelligent packing 2.4.2 Industrial applications 2.4.2.1 Designing a robotized manipulation 2.
4.2.2 Optimizing a robotized manipulation 3: Fundamentals of Mechanics of Manipulators 3.1 Kinematic model and position analysis 3.1.1 Transformation Matrix 3.1.2 Joint variables and actuator space 3.
1.3 Workspace analysis 3.1.3.1 A binary matrix formulation 3.1.3.2 An algebraic formulation 3.
1.3.3 A Workspace evaluation 3.1.4 Manipulator design with prescribed workspace 3.2 Inverse kinematics and path planning 3.2.1 A formulation for inverse kinematics 3.
2.1.1 An example 3.2.2 Trajectory generation in Joint Space 3.2.3 A formulation for path planning in Cartesian coordinates 3.2.
3.1 Illustrative examples 3.3 Velocity and acceleration analysis 3.3.1 An example 3.4 Jacobian and singularity configurations 3.4.1 An example 3.
5 Statics of manipulators 3.5.1A mechanical model 3.5.2 Equations of equilibrium 3.5.3 Jacobian mapping of forces 3.5.
4 An example 3.6 Dynamics of manipulators 3.6.1 Mechanical model and inertia characteristics 3.6.2 Newton-Euler equations 3.6.2.
1 An example 3.6.3 Lagrange formulation 3.6.3.1An example 3.7 Stiffness of manipulators 3.7.
1 A mechanical model 3.7.2 A formulation for stiffness analysis 3.7.3 A numerical example 3.8 Performance criteria for manipulators 3.8.1 Accuracy and repeatability 3.
8.2 Dynamic characteristics 3.8.3 Compliance response 3.9 Fundamentals of Mechanics of parallel manipulators 3.9.1 A numerical example for CaPaMan (Cassino Parallel Manipulator) 4: Fundamentals of Mechanics of Grasp 4.1 Gripping devices and their characteristics 4.
2 A mechatronic analysis for two-finger grippers 4.3 Design parameters and operation requirements for grippers 4.4 Configurations and phases of two-finger grasp 4.5 Model and analysis of two-finger grasp 4.6 Mechanisms for grippers 4.6.1 Modeling gripper mechanisms 4.6.
2 An evaluation of gripping mechanisms 4.6.2.1 A numerical example of index evaluation 4.7 Designing two-finger grippers 4.7.1 An optimum design procedure for gripping mechanisms 4.7.
1.1 A numerical example of optimum design 4.8 Electropneumatic actuation and grasping force control 4.8.1 An illustrative example for laboratory practice 4.8.1.1 An acceleration sensored gripper 4.
9 Fundamentals on multifinger grasp and articulated fingers Bibliography Index Biographical Notes.