Introduction To Robotics Global Edition

✍ Scribed by John Craig

• Tongue: English
• Leaves: 448
• Category: Library

✦ Synopsis

For senior-yearundergraduate and first-year graduate courses in robotics. An intuitiveintroduction to robotic theory and application Since its originalpublication in 1986, Craigs Introduction to Robotics: Mechanics andControl has been the leading textbook for teaching robotics at theuniversity level. Blending traditional mechanical engineering material withcomputer science and control theoretical concepts, the text covers a range oftopics, including rigid-body transformations, forward and inverse positionalkinematics, velocities and Jacobians of linkages, dynamics, linear andnon-linear control, force control methodologies, mechanical design aspects, androbotic programming. The 4th Edition featuresa balance of application and theory, introducing the science and engineering ofmechanical manipulationestablishing and building on foundational understandingof mechanics, control theory, and computer science. With an emphasis on the computationalaspects of problems, the text aims to present material in a simple, intuitive manner.

✦ Table of Contents

Cover
Title Page
Copyright
Contents
Preface
Chapter 1: Introduction
Chapter 2: Spatial Descriptions and Transformations
Chapter 3: Manipulator Kinematics
Chapter 4: Inverse Manipulator Kinematics
Chapter 5: Jacobians: Velocities and Static Forces
Chapter 6: Manipulator Dynamics
Chapter 7: Trajectory Generation
Chapter 8: Manipulator-Mechanism Design
Chapter 9: Linear Control of Manipulators
Chapter 10: Nonlinear Control of Manipulators
Chapter 11: Force Control of Manipulators
Chapter 12: Robot Programming Languages and Systems
Chapter 13: Off-Line Programming Systems
Appendix A: Trigonometric Identities
Appendix B: The 24 Angle-Set Conventions
Appendix C: Some Inverse-Kinematic Formulas
Solutions to Selected Exercises
Index