Theory of Applied Robotics

Theory 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.

Provides practical examples to clarify all aspects of theories Presents materials in a "fact-reason-application" method Optimization of minimum time robot motion is a unique feature of this book

Autorentext

Reza N. Jazar, Ph.D., is a Professor and Discipline Head of Mechanical and Automotive Engineering at RMIT University's School of Engineering, where he is responsible for providing leadership and management of the teaching and research programs in the discipline. Professor Jazar has several years of practical industrial experience, mostly in the global vehicle manufacturing and automotive industries. He is the Editor in Chief of the Journal of Nonlinear Engineering and has authored or co-authored more than 200 publications, including books, journal articles, monographs, and conference papers. Hormoz Marzbani, Ph.D., is a Senior Lecturer in Mechanical and Automotive Engineering at RMIT University's School of Engineering. Dr. Marzbani is a distinguished researcher and authority in the realm of vehicle dynamics and vibration. Throughout his career, Dr. Marzbani's scholarly pursuits have yielded profound contributions to the field of dynamics, vibration, and autonomous vehicles. His insightful work has been featured prominently in reputable journals, reflecting the depth of his expertise and dedication to advancing the frontiers of knowledge in his domain.

Klappentext

Theory 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.

Inhalt
Introduction.- 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.