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Modern Robotics Mechanics, Planning, and Control
출판사 : Cambridge University Press
저 자 : Lynch
ISBN : 9781107156302
발행일 : 2017-07
도서종류 : 외국도서
발행언어 : 영어
페이지수 : 544
판매가격 : 0원
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   Modern Robotics Mechanics, Planning, and Control 목차
1. Preview

2. Configuration space

3. Rigid-body motions

4. Forward kinematics

5. Velocity kinematics and statics

6. Inverse kinematics

7. Kinematics of closed chains

8. Dynamics of open chains

9. Trajectory generation

10. Motion planning

11. Robot control

12. Grasping and manipulation

13. Wheeled mobile robots

Appendix A. Summary of useful formulas

Appendix B. Other representations of rotations

Appendix C. Denavit–Hartenberg parameters

Appendix D. Optimization and Lagrange multipliers

Bibliography

Index.

   도서 상세설명   

This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book, and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject.

Offers a modern treatment of classical screw theory based on linear algebra and differential equations that is accessible to students with a background in linear algebra, differential equations, first-year physics, and some familiarity with programming
Comes with software to accompany the ample algorithmic descriptions for computing covered in the text, allowing students to solve the programming and implementation exercises
Includes numerous standard exercises with solutions at the end of each chapter and video lectures for flipped learning courses
Can be used either with courses or for self-learning


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