Introduction to Robotics: Mechanics and ControlNow in its third edition, Introduction to Robotics by John J. Craig provides readers with real-world practicality with underlying theory presented. With one half of the material from traditional mechanical engineering material, one fourth control theoretical material, and one fourth computer science, the book covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects and programming of robots. For engineers. |
Contents
Introduction | 1 |
Spatial descriptions and transformations | 19 |
Manipulator kinematics | 62 |
Copyright | |
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Common terms and phrases
acceleration actuator Adept Technology algorithm angular velocity application Atan2 axis calculate Cartesian space center of mass Chapter closed-loop compute configuration consider control law control system coordinate system critically damped defined degrees of freedom derive described desired dynamic equations end-effector error Euler angles example Exercise FIGURE force control friction function gear given goal point IEEE industrial robots input inverse kinematics Jacobian joint angles joint axes joint torques joint-space kinematic equations L₁ linear link frames link parameters manipulator's MATLAB mechanism Motoman move nonlinear OLP system path planar position and orientation problem PUMA relative result robot programming language Robotics and Automation Robotics Research rotation matrix scheme Section sensors servo shaft shown in Fig simulation singularities solution solve specify station frame stiffness subroutine task teach pendant three-link tool frame torques trajectory transform values vector workcell workspace wrist zero