Chapter 1: What is a Robot? · 1

Chapter 2: Robot Kinematics · 5

1.
Forward and Inverse Kinematics 7
Forward and Inverse Kinematics 7
Kinematics of an n-link manipulator in three-dimensional space 8
Rotation of Vectors 9
Parallel Translation of Vectors 11
Vectors that rotate and translate 11
2.
Posture angle 15
3.
Denavit-Hartenberg [DH] expression 16
4.
Jacobian 20
Resolved Motion Rate Control 21
Unique Posture 21

Chapter 3: Robot Dynamics · 25

1.
Lagrange's equations of motion 27
2.
Equations of motion of manipulator 30
3.
Joint Model and Equations of Motion 34

Chapter 4 Actuators · 37

1. DC motor 40
DC Motor Operating Principle 40
Types of DC Motors 42
DC Motor Model and Torque-Angular Velocity Relationship 42
PWM control of DC motors 47
2.
Stepper motor 50
3.
Hydraulics and Pneumatics 53
4.
Material type actuator 56
Piezoelectric actuator 56
Shape Memory Alloy 57
5.
Soft Actuator 59

Chapter 5 Sensors · 61

1.
Trait 63
2.
Position sensor 64
Potentiometer 64
Encoder 64
Linear Variable Differential Transformer (LVDT) 66
Resolver 67
3.
Acceleration sensor 68
4.
Force and Pressure Sensor 70
Piezoelectric sensor 70
Resistive sensor 72
Strain gauge 72
Load cell 75
Force and Torque sensor 75
5.
Touch and Tactile Sensor 78
6.
Range finders 80
Triangulation 80
Time of flight (TOF) 80
Ultrasonic sensor 81
Laser range sensor 81
Global Positioning System (GPS) 83
7.
Heading sensor 85
Compass 85
Gyroscope 85

Chapter 6: Image Processing Fundamentals · 87

1.
Resolution and Quantization 89
2.
Histogram 91
Histogram equalization 91
3.
Thresholding 93
4.
Smoothing filter 94
Mean filter 94
Median filter 94
5.
Edge detection 96
Image gradient 97
Contour Detection by Differentiation 98
Contour detection operator 99
6.
Template matching 102
7.
Shape Analysis 104
Area, perimeter, complexity 104
Moment 104
Hough transform 106

Chapter 7: Locomotion of Robots · 109

1.
Path Planning 112
Potential field method 112
Dijkstra's Algorithm 114
A* Algorithm 115
2.
Location Awareness 117
Distance sensor-based method 118
Artificial landmark method 118
Natural landmark method 119

Appendix A: Electrical Basics · 123
1.
Kirchhoff's Law 123
Kirchhoff's Current Law (KCL) 123
Kirchhoff's Voltage Law (KVL) 124
2.
Voltage and current distribution 125
Voltage Distribution Principle 125
Current Distribution Principle 126
3.
Wheatstone Bridge 127
Wheatstone Bridge 127
Force Measurement 128
4.
DC Circuit Analysis 130
Node voltage analysis 130
Mesh current analysis 131
5.
AC Circuit Analysis 133

Appendix B Control Fundamentals · 136
1.
Overview of Control Systems (Open Loop, Closed Loop Control) 136
Definition and Application of Control Systems 136
Control System Structure 136
2.
Modeling of dynamic systems (linear motion, rotational motion, motors) 138
Laplace transform 138
Laplace Transform Overview 139
Rectangular Motion 143
Rotational motion with gears 144
DC motor 145
3.
Response Characteristics of Second-Order Systems (Transient Response) 147
4.
Steady state error 150
5. PID Control 152

References · 155

preface

Robotics is a convergent field that intersects mechanical engineering, electrical and electronic engineering, and computer science. With the rapid advancement of computers and underlying technologies, its scope of activity is expanding beyond manufacturing to support daily life and even to space and deep-sea exploration. Therefore, understanding and utilizing robots is required in various fields.


This book is written in an easy-to-understand manner, tailored to the level of readers who are new to robotics, while also helping them understand the latest trends in robotics.
It covers not only kinematics and dynamics, which have long been the core of robotics education, but also actuators and sensors for actual implementation, as well as image processing and robot movement, which are the basis of robot vision that has recently become common in intelligent robots.


This book was designed with a level of difficulty and structure that makes it particularly suitable for use as a robotics textbook in undergraduate courses.
Considering the reality that most robotics textbooks have been difficult for students encountering robotics for the first time, requiring background knowledge equivalent to that of graduate students or upper-year undergraduates, we have edited them so that they can be accessed by those with basic knowledge of university mathematics.
For example, regarding the movement and dynamics of robots, which many students find difficult, the book focuses on understanding basic concepts rather than on rigorous mathematical and mechanical development. In addition, the basic contents of electricity and control required for dynamic modeling, actuators, sensors, etc. are organized in the appendix, so that students can study without much difficulty even without separate background knowledge.


Although we have attempted to cover as much of the content required for robotics education as possible, this desire conflicts with the nature of an easy-to-understand introductory book, and as such, this book alone has limitations in providing the ability to understand, design, or utilize robots. Furthermore, in-depth study is required, along with an interest in and understanding of the latest technologies in the field.
I hope that this book will help to overcome the barriers to entry into robotics and serve as a guide for more in-depth study and the technological development required in specialized fields.


Finally, I would like to express my gratitude to the members of the Aerospace Robotics Laboratory who helped in various ways in the publication of this book.