Robotics: From Theory to Practice
Autor Chao Chen, Wesley Au, Shao Liuen Limba Engleză Paperback – 29 iun 2025
The contents are divided into three parts. The first two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part I is an introduction targeting junior students, featuring more simplistic topics and examples. Part II provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part III, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries.
This textbook is valuable to broad readers, including those who have limited background in general engineering and wish to explore non-conventional applications of robotic manipulators. The scaffolded contents from Part I to Part III are created to lower the prerequisites and smooth the learning curve.
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Specificații
ISBN-13: 9781041013235
ISBN-10: 104101323X
Pagini: 458
Ilustrații: 504
Dimensiuni: 178 x 254 x 24 mm
Greutate: 0.86 kg
Ediția:1
Editura: CRC Press
Colecția CRC Press
ISBN-10: 104101323X
Pagini: 458
Ilustrații: 504
Dimensiuni: 178 x 254 x 24 mm
Greutate: 0.86 kg
Ediția:1
Editura: CRC Press
Colecția CRC Press
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Public țintă
Professional Training, Undergraduate Advanced, and Undergraduate CoreCuprins
Contents
Dedications
Preface
Glossary
I. Basics of Robotics
1. Introduction
2. Planar Kinetics, Velocity, And Statics
3. Trajectory Generation
4. Control Schemes
II. Key Topics
5. General Rotations and Transformations
6. Forward Kinematics
7. Inverse Kinematics
8. Jacobian Analysis
9. Path Planning
10. Programming
11. Lagrangian Dynamics
12. Newton-Euler Dynamics
13. Joint Control
14. Computed Torque Control
15. Force Control
III. Advanced Analysis and Case Studies
16. Mobility Analysis
17. Orientation Workspace
18. Constraint Analysis for Underactuated Systems
19. Concentric Tube Robot
20. Path Planning of Parallel Manipulators
21. Minimally-Invasive Surgical Robot with Remote Centre of Motion
22. MARS: The Monash Apple Retrieving System
IV. Appendix
23. Appendices for Chapter 5
24. Appendices for Chapter 8
25. Appendices for Chapter 11
Index
Dedications
Preface
Glossary
I. Basics of Robotics
1. Introduction
2. Planar Kinetics, Velocity, And Statics
3. Trajectory Generation
4. Control Schemes
II. Key Topics
5. General Rotations and Transformations
6. Forward Kinematics
7. Inverse Kinematics
8. Jacobian Analysis
9. Path Planning
10. Programming
11. Lagrangian Dynamics
12. Newton-Euler Dynamics
13. Joint Control
14. Computed Torque Control
15. Force Control
III. Advanced Analysis and Case Studies
16. Mobility Analysis
17. Orientation Workspace
18. Constraint Analysis for Underactuated Systems
19. Concentric Tube Robot
20. Path Planning of Parallel Manipulators
21. Minimally-Invasive Surgical Robot with Remote Centre of Motion
22. MARS: The Monash Apple Retrieving System
IV. Appendix
23. Appendices for Chapter 5
24. Appendices for Chapter 8
25. Appendices for Chapter 11
Index
Notă biografică
Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria).
Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.
Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.
Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.
Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.
Recenzii
"The authors very clearly and comprehensively present the fundamentals of robotics, with an emphasis on thorough understanding and rigorous - yet accessible - mathematical support. The book contains many illustrative examples that will guide the readers through the learning journey. An outstanding text for anyone interested in robotics."
Clément Gosselin, Université Laval, Québec, Canada
"The contributors are experienced scholars in the field. The book will be greatly valuable to grad students, researchers, and practitioners."
Yu Sun, University of Toronto, Ontario, Canada
"This book is an indispensable resource for a wide range of readers, from those seeking to conduct their first robotics project to those who desire to deepen their understanding of robotic theories and practical implementation. The author's clear and concise presentation of classic robotics theories lays a solid groundwork for readers with minimum prerequisite knowledge. The inclusion of case studies on real-world robots of medical, agricultural, and soft robots further illustrates the book's core concepts in action of effectively bridging the gap between theoretical understanding and practical application in robotics."
Jian Dai, King's college London, UK
Clément Gosselin, Université Laval, Québec, Canada
"The contributors are experienced scholars in the field. The book will be greatly valuable to grad students, researchers, and practitioners."
Yu Sun, University of Toronto, Ontario, Canada
"This book is an indispensable resource for a wide range of readers, from those seeking to conduct their first robotics project to those who desire to deepen their understanding of robotic theories and practical implementation. The author's clear and concise presentation of classic robotics theories lays a solid groundwork for readers with minimum prerequisite knowledge. The inclusion of case studies on real-world robots of medical, agricultural, and soft robots further illustrates the book's core concepts in action of effectively bridging the gap between theoretical understanding and practical application in robotics."
Jian Dai, King's college London, UK
Descriere
This textbook introduces robotic theories and technologies, bridging the gap between classic theories and real-world applications of robotic manipulators. A valuable resource to broad readers, including those who have a limited background in general engineering and wish to explore non-conventional applications of robotic manipulators.