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.
3 RigidBody Motions
4 Forward Kinematics
5 Velocity Kinematics and Statics
6 Inverse Kinematics
7 Kinematics of Closed Chains
8 Dynamics of Open Chains
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 DenavitHartenberg Parameters
Appendix D Optimization and Lagrange Multipliers
9 Trajectory Generation
Modern Robotics
Kevin M. Lynch , Frank C. Park
Ограниченный просмотр - 2017
Frank C. Park received his B.S. in Electrical Engineering from Massachusetts Institute of Technology in 1985, and his Ph.D. in Applied Mathematics from Harvard University, Massachusetts in 1991. He has been on the faculty at University of California, Irvine and since 1995 he has been Professor of Mechanical and Aerospace Engineering at Seoul National University. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an Institute of Electrical and Electronics Engineers (IEEE) Robotics and Automation Society Distinguished Lecturer and has held adjunct faculty positions at the Courant Institute of Mathematical Sciences, New York, the Interactive Computing Department at Georgia Institute of Technology and the Hong Kong University of Science and Technology Robotics Institute. He is a Fellow of the IEEE, Editor-in-Chief of the IEEE Transactions on Robotics, and developer of the EDX course Robot Mechanics and Control I, II.
| Название | Modern Robotics: Mechanics, Planning, and Control |
| Авторы | Kevin M. Lynch , Frank C. Park |
| Издатель | Cambridge University Press, 2017 |
| ISBN | 110850969X, 9781108509695 |
| Экспорт цитаты | BiBTeX EndNote RefMan |