Modern Robotics: Mechanics, Planning, and Control

Modern Robotics: Mechanics, Planning, and Control

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Kevin M. Lynch, Frank C. Park
Cambridge University Press
Edition: Illustrated, 5/25/2017
EAN 9781107156302, ISBN10: 1107156300

Hardcover, 544 pages, 25.9 x 18.3 x 2.8 cm
Language: English

This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art, screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject.

Foreword Roger Brockett
Foreword Matthew Mason
1. Preview
2. Configuration space
3. Rigid-body motions
4. Forward kinematics
5. Velocity kinematics and statics
6. Inverse kinematics
7. Kinematics of closed chains
8. Dynamics of open chains
9. Trajectory generation
10. Motion planning
11. Robot control
12. Grasping and manipulation
13. Wheeled mobile robots
Appendix A. Summary of useful formulas
Appendix B. Other representations of rotations
Appendix C. Denavit–Hartenberg parameters
Appendix D. Optimization and Lagrange multipliers