English | 2022 | ISBN: 129216493X , 978-1292164939 | 448 pages | True PDF | 22.62 MB
For senior-yearundergraduate and first-year graduate courses in robotics. An intuitiveintroduction to robotic theory and application Since its originalpublication in 1986, CraigsIntroduction to Robotics: Mechanics andControlhas been the leading textbook for teaching robotics at theuniversity level. Blending traditional mechanical engineering material withcomputer science and control theoretical concepts, the text covers a range oftopics, including rigid-body transformations, forward and inverse positionalkinematics, velocities and Jacobians of linkages, dynamics, linear andnon-linear control, force control methodologies, mechanical design aspects, androbotic programming. The4th Editionfeaturesa balance of application and theory, introducing the science and engineering ofmechanical manipulationestablishing and building on foundational understandingof mechanics, control theory, and computer science. With an emphasis on the computationalaspects of problems, the text aims to present material in a simple, intuitive manner.