Introduction To Robotics: Mechanics and Control, Global Edition, 4th Edition
- Length: 448 pages
- Edition: 4
- Language: English
- Publisher: Pearson
- Publication Date: 2022
- ISBN-10: 129216493X
- ISBN-13: 9781292164939
- Sales Rank: #652412 (See Top 100 Books)
For senior-yearundergraduate and first-year graduate courses in robotics. An intuitiveintroduction to robotic theory and application Since its originalpublication in 1986, Craigs Introduction to Robotics: Mechanics andControl has been the leading textbook for teaching robotics at theuniversity level. Blending traditional mechanical engineering material withcomputer science and control theoretical concepts, the text covers a range oftopics, including rigid-body transformations, forward and inverse positionalkinematics, velocities and Jacobians of linkages, dynamics, linear andnon-linear control, force control methodologies, mechanical design aspects, androbotic programming. The 4th Edition featuresa balance of application and theory, introducing the science and engineering ofmechanical manipulationestablishing and building on foundational understandingof mechanics, control theory, and computer science. With an emphasis on the computationalaspects of problems, the text aims to present material in a simple, intuitive manner.
Cover Title Page Copyright Contents Preface Chapter 1: Introduction Chapter 2: Spatial Descriptions and Transformations Chapter 3: Manipulator Kinematics Chapter 4: Inverse Manipulator Kinematics Chapter 5: Jacobians: Velocities and Static Forces Chapter 6: Manipulator Dynamics Chapter 7: Trajectory Generation Chapter 8: Manipulator-Mechanism Design Chapter 9: Linear Control of Manipulators Chapter 10: Nonlinear Control of Manipulators Chapter 11: Force Control of Manipulators Chapter 12: Robot Programming Languages and Systems Chapter 13: Off-Line Programming Systems Appendix A: Trigonometric Identities Appendix B: The 24 Angle-Set Conventions Appendix C: Some Inverse-Kinematic Formulas Solutions to Selected Exercises Index
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