Description
Book SynopsisTheory of Applied Robotics: Kinematics, Dynamics, and Control presents detailed robotics concepts at a theoretical-practical level, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. This new edition is completely revised, and includes updated and expanded example sets and problems and new materials. This textbook is designed for undergraduate or first-year graduate programs in mechanical, systems, and industrial engineering. Practicing engineers, researchers, and related professionals will appreciate the book’s user-friendly presentation of a wealth of robotics topics, most notably in 3D kinematics and dynamics of manipulator robots.
Table of ContentsIntroduction.- Kinematics.- Rotation Kinematics.- Orientation Kinematics.- Motion Kinematics.- Forward Kinematics.- Inverse Kinematics.- Angular Velocity.- Velocity Kinematics.- Numerical Methods in Kinematics.- Dynamics.- Acceleration Kinematics.- Motion Dynamics.- Robot Dynamics.- Control.- Path Planning.- F Time Optimal Control.- Control Techniques.- Appendix A: Global Frame Triple Rotation.- Appendix B: Local Frame Triple Rotation.- Appendix C: Principal Central Screws Triple Combination. Appendix D: Trigonometric Formula.
