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.

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.

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.

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

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

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.