ROBOTICS FOR ENGINEERS by Yoram Koren Head, Robotics Laboratory Technion—Israel Institute of Technology McGraw-Hill Book Company New York St. Louis San Francisco Auckland Bogota Hamburg Johannesburg London Madrid Mexico Montreal New Delhi Panama Paris Sao Paulo Singapore Sydney Tokyo TorontoContents Preface [ xiti List of Abbreviations / xvii CHAPTER 1 Basic Concepts in Robotics / 1 1.1 Introduction / 1 1.2 Advantages and Applications of Robots / 2 Nonindustrial Applications / 7 Basic Structure of Robots / 11 Numerical Control of Machine Tools / 14 Resolution, Accuracy, and Repeatability / 17 Position Representation / 19 ‘eferences / 21 None os 1 1 1 1 1 Re CHAPTER 2 Classification and Structure of Robotic Systems / 23 2.1 Point-to-Point and Continuous-Path Systems / 23 2.1.1 Point-to-Point Robotic Systems / 23 2.1.2 Continuous-Path Robotic Systems / 25 2.1.3 Trajectory Planning / 26 2.2 Control Loops of Robotic Systems / 32