Introduction to Robotics: Mechanics and Control, 4/e (IE-Paperback)

John Craig

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商品描述

Description
An intuitive introduction to robotic theory and application

Since its original publication in 1986, Craig’s Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming.

The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.

 

Features
New to this Edition

  • Real-world applications present underlying theories in simple, understandable ways. This practicality helps students learn how to write algorithms to perform required computations.
  • End-of-chapter exercises feature “difficulty grades” so instructors can assign to students and easily implement a grade-point plan.
  • Programming Assignments at the end of each chapter emphasize concepts from a software perspective.
  • balanced approach presents robotics concepts from mechanical, control theory, and computer science subdisciplines.
  • NEW! Additional exercises have been added to the end of each chapter.
  • UPDATED! New references, materials, and figures account for changing technology and reflect today’s robotics landscape.
  • REVISED! More than 100 minor typos have been corrected throughout the text.
  • NEW! Two sections have been added, including Section 8.9 on optical encoders and Section 10.9 on adaptive control.
  • Additional exercises have been added at the end of each chapter.
  • New section 8.9 added on optical encoders.
  • New section 10.9 added on adaptive control.
  • Updated material and references for changing technology and today’s robotics landscape.
  • Several new or updated figures.
  • More than 100 minor typos and other errors corrected.

商品描述(中文翻譯)

描述

直觀介紹機器人理論和應用



自1986年首次出版以來,Craig的《機器人學導論:力學與控制》一直是大學教授機器人學的主要教科書。該書將傳統的機械工程材料與計算機科學和控制理論概念相結合,涵蓋了一系列主題,包括剛體變換、正向和反向位置運動學、鏈接的速度和雅可比矩陣、動力學、線性和非線性控制、力控制方法、機械設計方面以及機器人編程。



第四版平衡了應用和理論,介紹了機械操作的科學和工程學,並建立和擴展了對力學、控制理論和計算機科學的基礎理解。文本強調問題的計算方面,旨在以簡單、直觀的方式呈現材料。

 

特點

本版新增內容



  • 真實世界應用以簡單易懂的方式呈現基本理論。這種實用性有助於學生學習如何編寫算法以執行所需的計算。


  • 章末練習設有“難度等級”,以便教師分配給學生並輕鬆實施成績計劃。


  • 每章結尾的編程任務強調軟件角度的概念。

  • 以機械、控制理論和計算機科學子學科的角度呈現機器人概念的平衡方法


  • 新增練習已添加到每章結尾。


  • 更新的參考資料、材料和圖片反映了不斷變化的技術和當今的機器人學領域。


  • 修正了超過100個小錯誤


  • 新增兩個章節,包括第8.9節光學編碼器和第10.9節自適應控制。

  • 在每章結尾添加了額外的練習

  • 新增第8.9節光學編碼器。

  • 新增第10.9節自適應控制。


  • 更新的材料和參考資料反映了不斷變化的技術和當今的機器人學領域。


  • 新增或更新的圖片


  • 修正了超過100個小錯誤和其他錯誤。

目錄大綱

Table of Contents
1. Introduction
2. Spatial Transformations
3. Forward Kinematics
4. Inverse Kinematics
5. Velocities, Static Forces, and Jacobians
6. Dynamics
7. Trajectory Planning
8. Mechanical Design of Robots
9. Linear Control
10. Non-Linear Control
11. Force Control
12. Programming Languages and Systems
13. Simulation and Off-Line Programming

目錄大綱(中文翻譯)

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目錄

1. 簡介

2. 空間轉換

3. 正向運動學

4. 逆向運動學

5. 速度、靜力和雅可比矩陣

6. 動力學

7. 軌跡規劃

8. 機器人的機械設計

9. 線性控制

10. 非線性控制

11. 力控制

12. 程式語言和系統

13. 模擬和離線編程

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