1. 1 robot automation
1.2 robot application
1.3 robot mechanism
1.4 robot specifications
utilize
Chapter 2 Attitude Description and Homogeneous Transformation
2. 1 rigid body attitude description
2.2 coordinate transformation
2.3 Homogeneous coordinates and homogeneous transformation
2.4 Operation of Homogeneous Transformation Matrix
2.5 conversion equation
2.6 Euler angle and RPY angle
2.7 general formula of rotation transformation
2.8 Transformation of Free Vector
utilize
Chapter III Kinematics of Manipulator
3. 1 connecting rod parameters and connecting rod coordinate system
3.2 Linkage Transformation and Kinematics Equation
3.3 XHK5 140 motion equation of tool changing manipulator
3.4 Kinematic equation of PUMA 560 robot
3.5 inverse kinematics solution of puma560 robot
3.6 wrist closure solution when three axes intersect
3.7 Inverse kinematics to solve related problems
3.8 Joint Space and Operating Space
utilize
Chapter 4 Jacobian matrix of manipulator
4. Definition of1Jacobian matrix
4.2 Differential and Generalized Velocity
4.3 Construction Method of Jacobian Matrix
4.4 Jacobian Matrix of Puma 560
4.5 Li jacoby
4.6 Singularity and dexterity
4.7 Stiffness and Deformation
4.8 Error Calibration and Compensation
utilize
Chapter 5 Dynamics of Manipulator
5. 1 Speed and acceleration analysis of connecting rod
5.2 Static analysis of connecting rod
5.3 Newton-Euler Recursive Mechanical Equation
5.4 Dynamics of joint space and operating space
5.5 Dynamic performance index
5.6 Dynamic optimization design
5.7 Lagrangian dynamics
5.8 Dynamic Modeling and Simulation of Manipulator
utilize
Chapter VI Trajectory Planning
6. 1 General problems of trajectory planning
6.2 Interpolation of joint trajectory
6.3 Cartesian spatial planning method
6.4 quaternion and linear orbit transfer planning
6.5 Real-time Generation of Trajectory
6.6 Trajectory Planning Based on Dynamic Model
utilize
Chapter VII Control of Operating Arm
7. 1 Introduction
7.2 Linear model and control of single joint
7.3 Decomposition of Control Law
7.4 Nonlinear Control of Manipulator
7.5 Multi-joint control of operating arm
7.6 Practical Problems in Control
7.8 Industrial Robot Control System
7.9 Control based on Cartesian coordinates
7. Stability analysis of10 Lyapunov
utilize
Chapter 8 Robot Language and Off-line Programming
8. 1 robot language overview
8.2 Robot Language Structure
8.3 Ware
8.4 Problems related to robot language
……
Appendix 1 Basic Programming Experiment of Robotics
Appendix II Comparison of English and Chinese Related Terms