Robot Modeling and Control
2. Edition February 2020
608 Pages, Hardcover
Wiley & Sons Ltd
A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control
In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis.
With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as:
* Motion-planning, collision avoidance, trajectory optimization, and control of robots
* Popular topics within the robotics industry and how they apply to various technologies
* An expanded set of examples, simulations, problems, and case studies
* Open-ended suggestions for students to apply the knowledge to real-life situations
A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.
Table of Contents vii
1 Introduction 1
I The Geometry of Robots 33
2 Rigid Motions 35
3 Forward Kinematics 75
4 Velocity Kinematics 101
5 Inverse Kinematics 141
II Dynamics and Motion Planning 163
6 Dynamics 165
7 Path and Trajectory Planning 215
III Control of Manipulators 269
8 Independent Joint Control 271
9 Nonlinear and Multivariable Control 311
10 Force Control 347
11 Vision-Based Control 367
12 Feedback Linearization 411
IV Control of Underactuated Systems 439
13 Underactuated Robots 441
14 Mobile Robots 481
A Trigonometry 525
B Linear Algebra 527
C Lyapunov Stability 541
D Optimization 553
E Camera Calibration 557
Bibliography 562
Index 577
SETH HUTCHINSON received his Ph.D. from Purdue University in 1988, and is currently Professor and KUKA Chair for Robotics in the School of Interactive Computing at the Georgia Institute of Technology, where he also serves as Executive Director of the Institute for Robotics and Intelligent Machines. He was the Founding Editor-in-Chief of the IEEE Robotics and Automation Society's Conference Editorial Board, Editor-in-Chief of the IEEE Transactions on Robotics, and is a Fellow of the IEEE. His research in robotics spans the areas of planning, sensing, and control.
MATHUKUMALLI VIDYASAGAR received his Ph.D. in electrical engineering in 1969 from the University of Wisconsin in Madison. During his fifty-year career, he has worked in control theory, machine learning, robotics and cancer biology. Among the many honors he has received are Fellowship in The Royal Society and the IEEE Control Systems Award. At present he is a Distinguished Professor at the Indian Institute of Technology Hyderabad.
