Modern Robotics
Mechanics, Planning, and Control

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Kevin M. Lynch (Author), Frank C. Park (Author)

9781107156302, Cambridge University Press

Hardback, published 25 May 2017

544 pages
26 x 18.2 x 2.7 cm, 1.27 kg

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.

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.

Subject Areas: Computer science [UY], Robotics [TJFM1], Engineering graphics & technical drawing [TBG], Engineering: general [TBC]