Theory of Applied Robotics: Kinematics, Dynamics, and Control

ISBN-13: 9783030932190 / Angielski / Twarda / 2022 / 1100 str.

Reza N. Jazar

Spis treści

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.

O autorze

Reza N. Jazar is a Professor of Mechanical Engineering. Reza received his PhD degree from Sharif University of Technology; MSc and BSc from Tehran Polytechnic. His areas of expertise include Nonlinear Dynamic Systems and Applied Mathematics. He obtained original results in non-smooth dynamic systems, applied nonlinear vibrating problems, time optimal control, and mathematical modeling of vehicle dynamics and stability. He authored several monographs in vehicle dynamics, robotics, dynamics, vibrations, mathematics, and published numerous professional articles, as well as book chapters in research volumes. Most of his textbooks have been adopted by many universities for teaching and research, and by many research agencies as standard model for research results.

Dr. Jazar had the pleasure to work in several Canadian, American, Asian, Middle Eastern, and Australian universities, as well as several years in Automotive Industries all around the world. Working in different engineering firms and educational systems provide him a vast experience and knowledge to publish his researches on important topics in engineering and science. His unique style of writing helps readers to learn the topics deeply in an easy way.

Blurb

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.