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Theory of Applied Robotics

Kinematics, Dynamics, and Control

  • Textbook
  • © 2007

Overview

Authors:
  1. Reza N. Jazar

    1. Department of Mechanical Engineering, Manhattan College, Riverdale

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  • Presents materials in a "fact-reason-application" method
  • Includes discussion of modular forward kinematics of manipulators, which leads to coverage of new and future trends in advanced robotics
  • Provides detailed, real-life examples throughout the text, such as the use of a shuttle arm kinematic, which encourages learning and understanding
  • Offers a unique approach to orientation kinematics and introduces more effective tools to analyze rotation of rigid links
  • Includes supplementary material: sn.pub/extras
  • Request lecturer material: sn.pub/lecturer-material

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Table of contents (15 chapters)

  1. Front Matter

    Pages i-xxi
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  2. Introduction

    1. Introduction

      • Reza N. Jazar
      Pages 1-27

  3. Kinematics

    1. Front Matter

      Pages 29-32
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    2. Rotation Kinematics

      • Reza N. Jazar
      Pages 33-79

    3. Orientation Kinematics

      • Reza N. Jazar
      Pages 81-126

    4. Motion Kinematics

      • Reza N. Jazar
      Pages 127-197

    5. Forward Kinematics

      • Reza N. Jazar
      Pages 199-262

    6. Inverse Kinematics

      • Reza N. Jazar
      Pages 263-296

    7. Angular Velocity

      • Reza N. Jazar
      Pages 297-341

    8. Velocity Kinematics

      • Reza N. Jazar
      Pages 343-374

    9. Numerical Methods in Kinematics

      • Reza N. Jazar
      Pages 375-415

  4. Dynamics

    1. Front Matter

      Pages 417-419
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    2. Acceleration Kinematics

      • Reza N. Jazar
      Pages 421-446

    3. Motion Dynamics

      • Reza N. Jazar
      Pages 447-503

    4. Robot Dynamics

      • Reza N. Jazar
      Pages 505-563

  5. Control

    1. Front Matter

      Pages 565-567
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    2. Path Planning

      • Reza N. Jazar
      Pages 569-606

    3. Time Optimal Control

      • Reza N. Jazar
      Pages 607-640

    4. Control Techniques

      • Reza N. Jazar
      Pages 641-663

  6. Back Matter

    Pages 664-693
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Keywords

About this book

This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems. The subject of robotics may appear overdosed by the number of available texts because the field has been growing rapidly since 1970. However, the topic remains alive with modern developments, which are closely related to the classical material. It is evident that no single text can cover the vast scope of classical and modern materials in robotics. Thus the demand for new books arises because the field continues to progress. Another factor is the trend toward analytical unification of kinematics, dynamics, and control. Classical kinematics and dynamics of robots has its roots in the work of great scientists of the past four centuries who established the methodology and understanding of the behavior of dynamic systems. The development ofdynamic science, since the beginning of the twentieth century, has moved toward analysis of controllable man-made systems. Therefore, merging the kinematics and dynamics with control theory is the expected development for robotic analysis. The other important development is the fast growing capability of ac­ curate and rapid numerical calculations, along with intelligent computer programming.

Reviews

From the reviews:

"The author has selected about 330 examples to illustrate the theory. Many examples are based on practical robotics problems, and the solutions are fully developed. In the introduction the symbols and abbreviations are defined and are being used consistently throughout the text. … The organization of the book and its didactic niceties will be appreciated by serious students as well as by instructors." (Franz Selig, Zentralblatt MATH, Vol. 1120 (22), 2007)

"This is a classical textbook on robotics that could employed in the teaching of an upper undergraduate or a lower graduate introductory robotics course … . The exposition is guided through more than 300 examples, which is a main feature of this book. … Each chapter ends with a summary and a collection of exercises. The book concludes with a list of references and four appendices." (Krzysztof Tchon , Mathematical Reviews, Issue 2009 b)

Authors and Affiliations

  • Department of Mechanical Engineering, Manhattan College, Riverdale

    Reza N. Jazar

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