Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar provides up-to-date introduction to the field. The text presents basic and advanced material in a method that's directly readable and mathematically rigorous. A step-by-step computational strategy helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most typical robot designs.
Detailed coverage of vision and visual servo control lets you program robots to manipulate objects sensed by cameras. An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs. The most typical movement planning and trajectory generation algorithms are presented in an elementary style.
The great remedy of movement and drive control includes both basic and advanced methods. The text's remedy of geometric nonlinear control is extra readable than in more advanced texts. Many worked examples and an in depth listing of problems illustrate all features of the theory.
This book introduces the fundamentals of robotic modeling and control and supplies background material on terminology, linear algebra, dynamical techniques and stability idea, adopted by detailed coverage of ahead and in-verse kinematics, Jacobians, Lagrangian dynamics, motion planning, robust and adaptive movement and power control, and com-puter vision. Each basic and superior material is introduced in a mode that is readable and mathematically rigorous.
The book gives related applications from industrial robotics and cell robotics. Appropriate for a one or two time period course, this text is suitable for undergraduate and graduate college students from electrical engineering, mechanical engineering, computer science, and mathematics and can be utilized as a analysis reference. Many detailed labored examples and in depth issues illustrate theory and point the reader to extra superior topics.
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