Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors.
Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
Author(s): Reza N. Jazar (auth.)
Edition: 2
Publisher: Springer US
Year: 2010
Language: English
Pages: 883
Tags: Vibration, Dynamical Systems, Control; Control , Robotics, Mechatronics; Systems Theory, Control
Front Matter....Pages i-xxiii
Introduction....Pages 1-28
Front Matter....Pages 29-31
Rotation Kinematics....Pages 33-90
Orientation Kinematics....Pages 91-147
Motion Kinematics....Pages 149-231
Forward Kinematics....Pages 233-323
Inverse Kinematics....Pages 325-380
Angular Velocity....Pages 381-435
Velocity Kinematics....Pages 437-484
Numerical Methods in Kinematics....Pages 485-524
Front Matter....Pages 525-526
Acceleration Kinematics....Pages 529-579
Motion Dynamics....Pages 581-639
Robot Dynamics....Pages 641-723
Front Matter....Pages 725-726
Path Planning....Pages 729-789
★ Time Optimal Control....Pages 791-826
Control Techniques....Pages 827-851
Back Matter....Pages 853-883
