Kevin M. Lynch

Modern Robotics (eBook, PDF)

Mechanics, Planning, and Control

• Format: PDF

Produktbeschreibung

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.

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Produktdetails

• Verlag: Cambridge University Press
• Erscheinungstermin: 25. Mai 2017
• Englisch
• ISBN-13: 9781108515658
• Artikelnr.: 49040673

Autorenporträt

Kevin M. Lynch received his B.S.E. in Electrical Engineering from Princeton, New Jersey in 1989, and Ph.D. in Robotics from Carnegie Mellon University, Pennsylvania in 1996. He has been a faculty member at Northwestern University, Illinois since 1997 and has held visiting positions at California Institute of Technology, Carnegie Mellon University, Tsukuba University, Japan and Northeastern University in Shenyang, China. His research focuses on dynamics, motion planning and control for robot manipulation and locomotion; self-organizing multi-agent systems; and physically interacting human-robot systems. A Fellow of the Institute of Electrical and Electronics Engineers (IEEE), he also was the recipient of the IEEE Early Career Award in Robotics and Automation, Northwestern's Professorship of Teaching Excellence, and the Northwestern Teacher of the Year award in engineering. Currently he is Senior Editor of the IEEE Robotics and Automation Letters, and the incoming Editor-in-Chief of the IEEE International Conference on Robotics and Automation. This is his third book.

Inhaltsangabe

Foreword Roger Brockett
Foreword Matthew Mason
Preface
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.