Theory Of Applied Robotics

Author : Reza N. Jazar
Publisher : Springer Science & Business Media
Page : 888 pages
File Size : 42,9 Mb
Release : 2010-11-05
Category : Technology & Engineering
ISBN : 9781441917560

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Theory of Applied Robotics by Reza N. Jazar Pdf

The second edition of this book would not have been possible without the comments and suggestions from my students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped me refine and clarify the material. My intention when writing this book was to develop material that I would have liked to had available as a student. Hopefully, I have succeeded in developing a reference that covers all aspects of robotics with sufficient detail and explanation. The first edition of this book was published in 2007 and soon after its publication it became a very popular reference in the field of robotics. I wish to thank the many students and instructors who have used the book or referenced it. Your questions, comments and suggestions have helped me create the second edition. Preface 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.

Author : Jazar
Publisher : Unknown
Page : 716 pages
File Size : 42,8 Mb
Release : 2009-09-01
Category : Electronic
ISBN : 8184894015

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Theory Of Applied Robotics: Kinematics, Dynamics, And Control by Jazar Pdf

Author : Reza N. Jazar
Publisher : Springer Nature
Page : 836 pages
File Size : 42,8 Mb
Release : 2022-05-13
Category : Technology & Engineering
ISBN : 9783030932206

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Theory of Applied Robotics by Reza N. Jazar Pdf

Theory of Applied Robotics: Kinematics, Dynamics, and Control presents detailed robotics concepts at a theoretical-practical level, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. This new edition is completely revised, and includes updated and expanded example sets and problems and new materials. This textbook is designed for undergraduate or first-year graduate programs in mechanical, systems, and industrial engineering. Practicing engineers, researchers, and related professionals will appreciate the book’s user-friendly presentation of a wealth of robotics topics, most notably in 3D kinematics and dynamics of manipulator robots.

Author : Jose M. Pardos-Gotor
Publisher : CRC Press
Page : 255 pages
File Size : 48,7 Mb
Release : 2021-11-23
Category : Technology & Engineering
ISBN : 9781000481563

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Screw Theory in Robotics by Jose M. Pardos-Gotor Pdf

Screw theory is an effective and efficient method used in robotics applications. This book demonstrates how to implement screw theory, explaining the key fundamentals and real-world applications using a practical and visual approach. An essential tool for those involved in the development of robotics implementations, the book uses case studies to analyze mechatronics. Screw theory offers a significant opportunity to interpret mechanics at a high level, facilitating contemporary geometric techniques in solving common robotics issues. Using these solutions results in an optimized performance in comparison to algebraic and numerical options. Demonstrating techniques such as six-dimensional (6D) vector notation and the Product of Exponentials (POE), the use of screw theory notation reduces the need for complex algebra, which results in simpler code, which is easier to write, comprehend, and debug. The book provides exercises and simulations to demonstrate this with new formulas and algorithms presented to aid the reader in accelerating their learning. By walking the user through the fundamentals of screw theory, and by providing a complete set of examples for the most common robot manipulator architecture, the book delivers an excellent foundation through which to comprehend screw theory developments. The visual approach of the book means it can be used as a self-learning tool for professionals alongside students. It will be of interest to those studying robotics, mechanics, mechanical engineering, and electrical engineering.

Author : G. Nakhaie Jazar
Publisher : Unknown
Page : 0 pages
File Size : 43,6 Mb
Release : 2010-11-02
Category : Robotics
ISBN : 1441940863

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Theory of Applied Robotics by G. Nakhaie Jazar Pdf

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.

Author : Marko B. Popović
Publisher : CRC Press
Page : 364 pages
File Size : 42,9 Mb
Release : 2013-12-21
Category : Medical
ISBN : 9781482242737

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Biomechanics and Robotics by Marko B. Popović Pdf

The science and technology of biomechanics and robotics promise to be some of the most influential research directions of the twenty-first century. Biomechanics and Robotics goes beyond the individual areas of biomechanics, robotics, biomedical engineering, biomechatronics, and biologically inspired robotics to provide the first unified textbook on the subject. It offers a "big picture" look at the state-of-the-art science and technology. With numerous figures, references, and exercises, the book presents a pedagogical introduction to a variety of topics, reviews historical developments, and gives up-to-date insights on modern-day biomechanics and robotics.

Author : Kevin M. Lynch,Frank C. Park
Publisher : Cambridge University Press
Page : 545 pages
File Size : 40,6 Mb
Release : 2017-05-25
Category : Computers
ISBN : 9781107156302

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Modern Robotics by Kevin M. Lynch,Frank C. Park Pdf

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

Author : Jadran Lenarčič,Federico Thomas
Publisher : Springer Science & Business Media
Page : 558 pages
File Size : 46,7 Mb
Release : 2002-06-30
Category : Computers
ISBN : 1402006969

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Advances in Robot Kinematics by Jadran Lenarčič,Federico Thomas Pdf

This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.

Author : J. K. Davidson,K. H. Hunt
Publisher : Oxford University Press
Page : 477 pages
File Size : 44,5 Mb
Release : 2004-03-25
Category : Technology & Engineering
ISBN : 9780192516282

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Robots and Screw Theory by J. K. Davidson,K. H. Hunt Pdf

Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts. The illustrative examples and the exercises in the book are taken principally from robotic machinery used for manufacturing and construction, but the principles apply equally well to miniature robotic devices and to those used in other industries. The comprehensive coverage of the screw and its geometry lead to reciprocal screw systems for statics and instantaneous kinematics. These screw systems are brought together in a unique way to show many cross-relationships between the force-systems that support a body equivalently to a kinematic serial connection of joints and links. No prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example yet most of the book applies to robots that move three-dimensionally. Consequently, the book is suitable both as a text at the graduate-course level and as a reference book for the professional. Worked examples on every major topic and over 300 exercises clarify and reinforce the principles covered in the text. A chapter-length list of references gives the reader source-material and opportunities to pursue more fully topics contained in the text.

Author : Tsuneo Yoshikawa
Publisher : MIT Press
Page : 318 pages
File Size : 53,6 Mb
Release : 1990
Category : Computers
ISBN : 0262240289

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Foundations of Robotics by Tsuneo Yoshikawa Pdf

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators.

Author : Jadran Lenarčič,Federico Thomas
Publisher : Springer Science & Business Media
Page : 521 pages
File Size : 44,7 Mb
Release : 2013-06-29
Category : Technology & Engineering
ISBN : 9789401706575

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Advances in Robot Kinematics by Jadran Lenarčič,Federico Thomas Pdf

This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.

Author : M. Vukobratovic,V. Potkonjak
Publisher : Springer Science & Business Media
Page : 319 pages
File Size : 51,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783642818547

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Dynamics of Manipulation Robots by M. Vukobratovic,V. Potkonjak Pdf

This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe sis and control of artificial motion, have contributed to a gradual formation of this discipline.

Author : Harish Parthasarathy
Publisher : CRC Press
Page : 491 pages
File Size : 44,9 Mb
Release : 2021-06-23
Category : Mathematics
ISBN : 9781000425932

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Stochastics, Control and Robotics by Harish Parthasarathy Pdf

This book discusses various problems in stochastic Processes, Control Theory, Electromagnetics, Classical and Quantum Field Theory & Quantum Stochastics. The problems are chosen to motivate the interested reader to learn more about these subjects from other standard sources. Stochastic Process theory is applied to the study of differential equations of mechanics subject to external noise. Some issues in general relativity like Geodesic motion, field theory in curved space time etc. are discussed via isolated problems. The more recent quantum stochastic process theory as formulated by R.L. Hudson and K. R. Parathasarathy is discussed. This provides a non commutative operator theoretic version of stochastic process theory. V.P. Belavkin's approach to quantum filtering based on non demolition measurements and Hudson Parathasarathy calculus has been discussed in detail. Quantum versions of the simple exclusion model in Markov process theory have been included. 3D Robots carring a current density interacting with an external Klein- Gordon or Electromagnetic field has been given some attention. The readers will after going through this book, be ready to carry out independent research in classical and quantum field theory and stochastic processes as applied to practical problems. Note: T&F does not sell or distribute the Hardback in India, Pakistan, Nepal, Bhutan, Bangladesh and Sri Lanka.

Author : Hamid D. Taghirad
Publisher : CRC Press
Page : 533 pages
File Size : 55,5 Mb
Release : 2013-04-08
Category : Technology & Engineering
ISBN : 9781466599284

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Parallel Robots by Hamid D. Taghirad Pdf

Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.

Author : Richard M. Murray
Publisher : CRC Press
Page : 503 pages
File Size : 50,7 Mb
Release : 2017-12-14
Category : Technology & Engineering
ISBN : 9781351469791

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A Mathematical Introduction to Robotic Manipulation by Richard M. Murray Pdf

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.