Robotics and Control: Fundamental Algorithms in Matlab(r)

ISBN-13: 9783030791780 / Angielski / Twarda / 2021 / 362 str.

Peter Corke

Recenzje

"Written in a light but quite informative style, the book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of modeling and control of spatial mechanisms, manipulators and robots." (Clementina Mladenova, zbMATH 1492.93004, 2022)

Spis treści

Introduction.- Representing Position and Orientation.- Time and Motion.- Mobile Robots.- Navigation.- Localization.- Robot Arm Kinematics,- Manipulator Velocity.- Dynamics and Control.- Appendices.

O autorze

The author is the organizer of the venerable Robotics Toolbox for Matlab with 100.000 + downloads per year (as well as the Vision Toolbox for Matlab)

Peter Corke has been appointed new Editor of the IEEE Robotics and Automation Magazine.

Blurb

This textbook provides a tutorial introduction to robotics: mobile robots and robot manipulator arms. It is written in a light but informative narrative style, and includes many figures and MATLAB examples. The book starts with the fundamentals of pose representation and time varying pose.  For mobile robotics it covers vehicle motion models, control, path planning, localization and mapping. For robot manipulators it covers forward, inverse and differential kinematics, and dynamics.

The Robotics Toolbox for MATLAB is free and open software that enables the reader to easily bring the algorithmic concepts into practice and work with real, non-trivial, problems. For the beginning student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself.