Introduction To Robotics Dynamics

Introduction to Robotics Dynamics

In the ever-evolving realm of robotics, robot dynamics stands as a cornerstone discipline, unraveling the intricate interplay of forces, torques, and motion that govern the behavior of these fascinating machines. This comprehensive book, meticulously crafted for readers seeking a profound understanding of robot dynamics, unveils the secrets of robot movement, empowering you to design, control, and optimize robots with remarkable precision. Written in an engaging and accessible style, this book caters to a diverse audience, from engineering students seeking a solid foundation in the subject to seasoned professionals seeking to expand their knowledge and expertise. Within these pages, you will embark on an enlightening journey, delving into the depths of robot kinematics, dynamics, control, motion planning, and simulation. Unravel the Mysteries of Robot Kinematics: - Grasp the fundamental concepts of robot kinematics, the study of robot motion without regard to the forces that cause it. - Explore various types of robot joints and their impact on robot movement. - Master the art of forward and inverse kinematics, the processes of determining the position and orientation of a robot's end-effector based on joint angles and vice versa. Delve into the Complexities of Robot Dynamics: - Uncover the intricacies of robot dynamics, delving into the forces and torques that influence robot motion. - Investigate the fundamental principles of Newton-Euler and Lagrangian formulations, two powerful techniques for analyzing robot dynamics. - Gain insights into the concept of robot inertia and its significance in robot control. Harness the Power of Robot Control: - Discover the intricacies of robot control, the art of commanding and guiding robots with precision. - Explore various control architectures, ranging from simple feedback control to advanced model-based control. - Delve into the world of PID control, a widely used control technique for robots, and uncover its strengths and limitations. Navigate the Labyrinth of Robot Motion Planning: - Embark on a journey into robot motion planning, the process of determining a collision-free path for a robot to follow. - Investigate different motion planning algorithms, each with its own strengths and weaknesses. - Learn about obstacle avoidance techniques, enabling robots to navigate complex environments safely and efficiently. Unleash the Potential of Robot Simulation: - Discover the power of robot simulation, a valuable tool for testing and validating robot designs and control algorithms. - Explore various robot simulation platforms and their capabilities. - Gain insights into the process of modeling robot dynamics for simulation purposes. With its wealth of illustrative examples, captivating case studies, and thought-provoking exercises, this book provides a truly immersive learning experience, transforming complex concepts into tangible insights. Embrace the journey into robot dynamics and unlock the secrets of these mesmerizing machines that are shaping the future of technology. If you like this book, write a review!

A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Introduction To Robotics: Mechanics And Control, 3/E