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Full Description
Robotics: From Theory to Practice introduces robotic theories and technologies to audiences, including university students, professionals with engineering backgrounds, and even high-school students interested in building their own robots. We aim to bridge the gap between classic theories and real-world applications of robotic manipulators, which, to date, have far exceeded the domain of conventional industry.
The contents are divided into three parts. The former two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part I is an introduction targeting junior students, featuring more simplistic topics and examples. Part II provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part III, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries.
This textbook is valuable to broad readers, including those who have limited background in general engineering and wish to explore non-conventional applications of robotic manipulators. The scaffolded contents from Part I to Part III are created to lower the prerequisites and smooth the learning curve.
Contents
Contents
Dedications
Preface
Glossary
I. Basics of Robotics
1. Introduction
2. Planar Kinetics, Velocity, And Statics
3. Trajectory Generation
4. Control Schemes
II. Key Topics
5. General Rotations and Transformations
6. Forward Kinematics
7. Inverse Kinematics
8. Jacobian Analysis
9. Path Planning
10. Programming
11. Lagrangian Dynamics
12. Newton-Euler Dynamics
13. Joint Control
14. Computed Torque Control
15. Force Control
III. Advanced Analysis and Case Studies
16. Mobility Analysis
17. Orientation Workspace
18. Constraint Analysis for Underactuated Systems
19. Concentric Tube Robot
20. Path Planning of Parallel Manipulators
21. Minimally-Invasive Surgical Robot with Remote Centre of Motion
22. MARS: The Monash Apple Retrieving System
IV. Appendix
23. Appendices for Chapter 5
24. Appendices for Chapter 8
25. Appendices for Chapter 11
Index
