Preface1: Introduction to Automation and Robotics1.1 Automatic systems and robots1.2 Evolution and applications of robots1.3 Examples and technical characteristics of industrial robots1.4 Evaluation of a robotization1.4.1 An economic estimation1.5 Forum for discussions on Robotics 2: Analysis of Manipulations2.
1 Decomposition of manipulative actions2.2 A procedure for analyzing manipulation tasks2.3 Programming for robots2.3.1 A programming language for robots: VAL II2.3.2 A programming language for robots: ACL2.4 Illustrative examples2.
4.1 Education practices2.4.1.1 Simulation of an industrial process2.4.1.2 Writing with a robot2.
4.1.3 An intelligent packing2.4.2 Industrial applications2.4.2.1 Designing a robotized manipulation2.
4.2.2 Optimizing a robotized manipulation 3: Fundamentals of Mechanics of Manipulators3.1 Kinematic model and position analysis3.1.1 Transformation Matrix3.1.2 Joint variables and actuator space3.
1.3 Workspace analysis3.1.3.1 A binary matrix formulation3.1.3.2 An algebraic formulation3.
1.3.3 A Workspace evaluation3.1.4 Manipulator design with prescribed workspace3.2 Inverse kinematics and path planning3.2.1 A formulation for inverse kinematics3.
2.1.1 An example3.2.2 Trajectory generation in Joint Space3.2.3 A formulation for path planning in Cartesian coordinates3.2.
3.1 Illustrative examples3.3 Velocity and acceleration analysis3.3.1 An example3.4 Jacobian and singularity configurations3.4.1 An example3.
5 Statics of manipulators3.5.1A mechanical model3.5.2 Equations of equilibrium3.5.3 Jacobian mapping of forces3.5.
4 An example3.6 Dynamics of manipulators3.6.1 Mechanical model and inertia characteristics3.6.2 Newton-Euler equations3.6.2.
1 An example3.6.3 Lagrange formulation3.6.3.1An example3.7 Stiffness of manipulators3.7.
1 A mechanical model3.7.2 A formulation for stiffness analysis3.7.3 A numerical example3.8 Performance criteria for manipulators3.8.1 Accuracy and repeatability3.
8.2 Dynamic characteristics3.8.3 Compliance response3.9 Fundamentals of Mechanics of parallel manipulators3.9.1 A numerical example for CaPaMan (Cassino Parallel Manipulator) 4: Fundamentals of Mechanics of Grasp4.1 Gripping devices and their characteristics4.
2 A mechatronic analysis for two-finger grippers4.3 Design parameters and operation requirements for grippers4.4 Configurations and phases of two-finger grasp4.5 Model and analysis of two-finger grasp4.6 Mechanisms for grippers4.6.1 Modeling gripper mechanisms4.6.
2 An evaluation of gripping mechanisms4.6.2.1 A numerical example of index evaluation4.7 Designing two-finger grippers4.7.1 An optimum design procedure for gripping mechanisms4.7.
1.1 A numerical example of optimum design4.8 Electropneumatic actuation and grasping force control4.8.1 An illustrative example for laboratory practice4.8.1.1 An acceleration sensored gripper4.
9 Fundamentals on multifinger grasp and articulated fingers BibliographyIndexBiographical Notes.