Theory of applied robotics: Kinematics, dynamics & control (POD)

This user-friendly book presents a wealth of robotics topics at a theoretical-practical level, most notably orientation, velocity, and forward kinematics. It explains robotics concepts in detail, concentrating on their practical use. More than 300 detailed examples with fully-worked solutions help provide a balanced and broad understanding of robotics in today's world. In addition, the book includes related theorems and formal proofs as well as real-life applications. The volume is richly illustrated with over 200 diagrams to help readers visualize concepts. It also offers a wealth of detailed problem sets and challenge problems for the more advanced reader.

Introduction.- Rotation Kinematics.- Orientation Kinematics.- Motion Kinematics.- Forward Kinematics.– Inverse Kinematics.- Angular Velocity.- Velocity Kinematics.- Numerical Methods in Kinematics.- Acceleration Kinematics.- Motion Dynamics.- Robot Dynamics.- Path Planing.- Time Optimal Control.- Control Techniques.