March 2020
Intermediate to advanced
608 pages
14h 31m
English
Content preview from Robot Modeling and Control, 2nd Edition
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Preface
This text is a second edition of our book, Robot Modeling and Control, John Wiley & Sons, Inc., 2006, which grew out of the earlier text, M.W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, Inc., 1989. The second edition reflects some of the changes that have occurred in robotics and robotics education in the past decade. In particular, many courses are now treating mobile robots on an equal footing with robot manipulators. As a result, we have expanded the discussion on mobile robots into a full chapter. In addition, we have added a new chapter on underactuated robots. We have also revised the material on vision, vision-based control, and motion planning to reflect changes in those topics.
Organization of the Text
After the introductory first chapter, which introduces the terminology and history of robotics and discusses the most common robot design and applications, the text is organized into four parts. Part I consists of four chapters dealing with the geometry of rigid motions and the kinematics of manipulators.
Chapter 2 presents the mathematics of rigid motions; rotations, translations, and homogeneous transformations.
Chapter 3 presents solutions to the forward kinematics problem using the Denavit–Hartenberg representation, which gives a very straightforward and systematic way to describe the forward kinematics of manipulators.
Chapter 4 discuses velocity kinematics and the manipulator Jacobian. The geometric Jacobian is derived in the ...
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