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Theory of Applied Robotics Kinematics Dynamics and Control free PDF

Download Theory of Applied Robotics Kinematics Dynamics and Control free PDF
Theory of Applied Robotics Kinematics Dynamics and Control

Download Theory of Applied Robotics Kinematics Dynamics and Control PDF
Theory of Applied Robotics Kinematics Dynamics and Control


This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics. This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems. The subject of robotics may appear overdosed by the number of available texts because the old has been growing rapidly since 1970. However, the topic remains alive with modern developments, which are closely related to the classical material.
It is evident that no single text can cover the vast scope of classical and modern materials in robotics. Thus, the demand for new books arises because the old continues to progress. Another factor is the trend toward the analytical uni cation of kinematics, dynamics, and control. Classical kinematics and dynamics of robots have their root s in the work of great scientists of the past four centuries who established the methodology and understanding of the behavior of dynamic systems.
The development of dynamic science, since the beginning of the twentieth century, has moved toward the analysis of controllable man-made systems. Therefore, merging the kinematics and dynamics with control theory is the expected development for robotic analysis. The other important development is the fast-growing capability of accurate and rapid numerical calculations, along with intelligent computer programming.
This book has evolved from nearly a decade of research in nonlinear
dynamic systems, and teaching undergraduate-gradu ate level courses in
robotics. It is addressed primarily to the last year of undergradu ate study
and the first year graduate student in engineering. Hence, it is an interme-
diat e textbook. Thi s book can even be th e first exposure to topics in spa-
tial kinemat ics and dynamics of mechanical syste ms. Therefore, it provides
both fundamental and advanced topi cs on the kinemati cs and dynamics of
robots. The whole book can be covered in two successive courses however,
it is possible to jump over some sections and cover the book in one course.
The students are required to know the fundamentals of kinematics and
dynamics, as well as a basic knowledge of numerical methods.


1: Introduction.
2: Rotation Kinematics.
3: Orientation K inematics.
4: Motion Kinematics.
5: Forward K inematics.
6: Inverse Kinematics.
7: Angular Velocity.
8: Velocity Kinematics.
9: Numerical Methods in Kinematics.
10: Acceleration Kinematics.
11: Motion Dynamics.
12: Robot Dynamics.
13: Path Planning.
14: Time Optimal Control.
15: Control Techniques.

Information Of The Book 

Name of the book : Theory of Applied Robotics Kinematics Dynamics and Control
Language : English 
Size : 20 MB
Format : PDF
Author : Reza N. Lazar