Here are 100 chapter titles for a book on articulated robots, progressing from beginner to advanced concepts:
I. Foundations & Fundamentals (20 Chapters)
- Introduction to Robotics and Automation
- What are Articulated Robots?
- Types of Articulated Robots: Serial vs. Parallel
- Understanding Robot Degrees of Freedom (DOF)
- Anatomy of an Articulated Robot: Links and Joints
- Robot Coordinate Systems and Frames of Reference
- Homogeneous Transformations: Representing Robot Position and Orientation
- Forward Kinematics: Calculating End-Effector Pose
- Inverse Kinematics: Solving for Joint Angles
- Introduction to Robot Programming Languages (e.g., RAPID, KAREL, Python)
- Basic Robot Control: Point-to-Point Motion
- Trajectory Planning: Linear and Circular Interpolation
- Robot Workspace and Reachability
- Understanding Robot Specifications: Payload, Reach, Speed, Accuracy
- Introduction to Actuators: Electric Motors, Hydraulics, Pneumatics
- Sensor Integration: Encoders, Limit Switches
- Safety Considerations in Robotics
- Setting up a Robotic Workcell
- Basic Robot Calibration
- Introduction to Robot Simulation Software
II. Intermediate Concepts & Techniques (30 Chapters)
- Advanced Kinematics: Denavit-Hartenberg (DH) Parameters
- Inverse Kinematics Solutions: Analytical vs. Numerical Methods
- Redundancy and Singularity Analysis
- Robot Dynamics: Understanding Forces and Torques
- Equations of Motion: Lagrange and Newton-Euler Formulations
- Robot Control Systems: PID Control and Beyond
- Joint Space Control vs. Cartesian Space Control
- Force Control and Impedance Control
- Path Planning: Algorithms for Obstacle Avoidance (e.g., A*, Dijkstra's)
- Trajectory Optimization: Minimizing Time, Energy, or Jerk
- Introduction to Machine Vision for Robotics
- Object Recognition and Pose Estimation
- Vision-Guided Robot Control
- Introduction to Force/Torque Sensors
- Force-Based Manipulation and Assembly
- Grasping and Manipulation Planning
- Gripper Design and Selection
- Introduction to Robot Calibration Techniques
- Advanced Calibration Methods: Laser Trackers, CMMs
- Robot Programming for Specific Applications (e.g., Welding, Painting)
- Offline Programming and Simulation
- Introduction to Robot Simulation Software (Advanced Features)
- Robot Communication Protocols (e.g., Ethernet, Profibus)
- Industrial Robot Safety Standards and Regulations
- Collaborative Robotics (Cobots): Working Alongside Humans
- Introduction to Mobile Manipulators
- Kinematics and Control of Mobile Manipulators
- Path Planning for Mobile Manipulators
- Sensor Fusion for Mobile Manipulation
- Case Studies: Successful Applications of Articulated Robots
III. Advanced Topics & Applications (50 Chapters)
- Advanced Dynamics: Constrained Motion and Multi-Body Dynamics
- Adaptive Control and Robust Control
- Learning Control and Reinforcement Learning for Robots
- Model Predictive Control (MPC) for Robot Motion
- Nonlinear Control Techniques for Articulated Robots
- Dexterous Manipulation and Fine Motor Skills
- Biologically Inspired Robotics
- Soft Robotics and Continuum Robots
- Micro/Nano Robotics
- Medical Robotics and Surgical Applications
- Rehabilitation Robotics and Assistive Devices
- Space Robotics and Exploration
- Underwater Robotics and Oceanographic Applications
- Agricultural Robotics and Automation
- Construction Robotics and Automation
- Robotics in Manufacturing and Industry 4.0
- Artificial Intelligence in Robotics
- Machine Learning for Robot Perception and Control
- Deep Learning for Robotics
- Computer Vision for Advanced Robotic Tasks
- 3D Vision and Reconstruction for Robotics
- SLAM (Simultaneous Localization and Mapping)
- Human-Robot Interaction (HRI)
- Teleoperation and Remote Control of Robots
- Cloud Robotics and Distributed Control
- Multi-Robot Systems and Coordination
- Swarm Robotics and Collective Behavior
- Robot Ethics and Societal Impact
- Future Trends in Robotics
- Advanced Robot Programming Techniques
- Object-Oriented Programming for Robotics
- Real-Time Programming for Robotics
- Parallel Programming for Robotics
- Robot Operating Systems (ROS)
- ROS Programming and Development
- Integration of Robotics with other Technologies (e.g., IoT, AR/VR)
- Design and Development of Custom Robot Systems
- Mechatronics and Robotics Engineering
- Research Topics in Articulated Robotics
- Case Studies: Advanced Applications of Articulated Robots
- Robot Competitions and Challenges
- Building Your Own Articulated Robot
- Robot Maintenance and Troubleshooting
- Robot Safety Audits and Risk Assessment
- Robot Project Management
- The Future of Work with Robots
- Legal and Ethical Considerations in Robotics
- Robotics and Education
- Robotics Resources and Communities
- Glossary of Robotics Terms