1st Edition
Fundamentals of Robotics Practical Case Studies with Matlab & Python
In an era where robotics is reshaping industries and redefining possibilities, "Fundamentals of Robotics: Practical Case Studies with Matlab & Python" emerges as an essential guide for both aspiring engineers and seasoned professionals. This comprehensive book bridges the gap between theoretical knowledge and practical application, driving advancements in robotics technology that mimic the complexity and grace of biological creatures.
Explore the intricate world of serial robots, from their kinematic and dynamic foundations to advanced control systems. Discover how the precise movements of a magician's fingers or the poised posture of a king cobra inspire the mathematical principles that govern robotic motion. The book delves into the Denavit-Hartenberg method, screw theory, and the Jacobian matrix, providing a thorough understanding of robot design and analysis.
Unique to this text is the integration of Matlab and Python, offering readers practical experience through step-by-step solutions and ready-to-use code. Each chapter is enriched with real-world case studies, including the 6-DOF Stanford robot and the Fanuc S-900w, allowing readers to apply theoretical concepts to tangible problems. The inclusion of biological examples enhances the relevance and accessibility of complex topics, illustrating the natural elegance of robotics.
Ideal for senior undergraduate and graduate students, as well as industry professionals, this book covers a wide range of topics, including linear and nonlinear control methods, trajectory planning, and force control. The dynamic models and control strategies discussed are crucial for anyone involved in the design, operation, or study of industrial robots.
"Fundamentals of Robotics: Practical Case Studies with Matlab & Python" is more than a textbook; it is a vital resource that provides the knowledge and tools needed to succeed in the dynamic field of robotics. Join the journey towards mastering robotic technology and contribute to the future of intelligent machines.
Preface
I Preliminary Studies
1 Introduction
2 Motion Description
3 Advanced Representations
II Kinematics
4 Forward Kinematics
5 Inverse Kinematics
6 Jacobian Matrix
7 Singularity and Dexterity
III Dynamics
8 Dynamic Analysis
9 Dynamics Properties and Representations
10 Simulation and Calibration
IV Control
11 Linear Motion Control
12 Nonlinear Motion Control
13 Force Control
14 Impedance Control
A Review on Linear Algebra
B Review on Nonlinear Control
Bibliography
Index
Biography
Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and
his Ph.D. in electrical engineering (control–robotics) in 1997, both from McGill University,
Montreal, Canada. He is currently a Professor and the Director of the Advanced Robotics
and Automated System (ARAS). Additionally, he has served as a Visiting Professor at
McGill University, ETS, Concordia University, and most recently at the University of Alberta
in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field
of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics
(IEEE – TMRB) and Frontiers in Robotics and AI – Biomedical Robotics. He is also part of
the editorial board of the International Journal of Robotics: Theory and Applications. His
research interests primarily revolve around robust and nonlinear control applied to robotics,
with a focus on medical robotics, as well as the application of VR and AI technologies in
medical applications. He boasts a substantial publication record, including seven books and
over 300 papers in peer-reviewed international journals and conference proceedings.
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