Robot Modeling and Control, 2nd Edition

Robot Modeling and Control, 2nd Edition

by Mark W. Spong, Seth Hutchinson, M. Vidyasagar
Released March 2020
Publisher(s): Wiley
ISBN: 9781119523994

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Book description

A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control

In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis.

With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: 

●      Motion-planning, collision avoidance, trajectory optimization, and control of robots

●      Popular topics within the robotics industry and how they apply to various technologies

●      An expanded set of examples, simulations, problems, and case studies

●      Open-ended suggestions for students to apply the knowledge to real-life situations

A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.

Table of contents

  1. Cover
  2. Preface:
  3. Chapter 1 Introduction
    1. 1.1 Mathematical Modeling of Robots
    2. 1.2 Robots as Mechanical Devices
    3. 1.3 Common Kinematic Arrangements
    4. 1.4 Outline of the Text
    5. Problems
    6. Notes and References
    7. Notes
  4. Part I The Geometry of Robots
    1. Chapter 2 Rigid Motions
      1. 2.1 Representing Positions
      2. 2.2 Representing Rotations
      3. 2.3 Rotational Transformations
      4. 2.4 Composition of Rotations
      5. 2.5 Parameterizations of Rotations
      6. 2.6 Rigid Motions
      7. 2.7 Chapter Summary
      8. Problems
      9. Notes and References
      10. Notes
    2. Chapter 3 Forward Kinematics
      1. 3.1 Kinematic Chains
      2. 3.2 The Denavit–Hartenberg Convention
      3. 3.3 Examples
      4. 3.4 Chapter Summary
      5. Problems
      6. Notes and References
    3. Chapter 4 Velocity Kinematics
      1. 4.1 Angular Velocity: The Fixed Axis Case
      2. 4.2 Skew-Symmetric Matrices
      3. 4.3 Angular Velocity: The General Case
      4. 4.4 Addition of Angular Velocities
      5. 4.5 Linear Velocity of a Point Attached to a Moving Frame
      6. 4.6 Derivation of the Jacobian
      7. 4.7 The Tool Velocity
      8. 4.8 The Analytical Jacobian
      9. 4.9 Singularities
      10. 4.10 Static Force/Torque Relationships
      11. 4.11 Inverse Velocity and Acceleration
      12. 4.12 Manipulability
      13. 4.13 Chapter Summary
      14. Problems
      15. Notes and References
      16. Notes
    4. Chapter 5 Inverse Kinematics
      1. 5.1 The General Inverse Kinematics Problem
      2. 5.2 Kinematic Decoupling
      3. 5.3 Inverse Position: A Geometric Approach
      4. 5.4 Inverse Orientation
      5. 5.5 Numerical Inverse Kinematics
      6. 5.6 Chapter Summary
      7. Problems
      8. Notes and References
  5. Part II Dynamics and Motion Planning
    1. Chapter 6 Dynamics
      1. 6.1 The Euler–Lagrange Equations
      2. 6.2 Kinetic and Potential Energy
      3. 6.3 Equations of Motion
      4. 6.4 Some Common Configurations
      5. 6.5 Properties of Robot Dynamic Equations
      6. 6.6 Newton–Euler Formulation
      7. 6.7 Chapter Summary
      8. Problems
      9. Notes and References
    2. Chapter 7 Path and Trajectory Planning
      1. 7.1 The Configuration Space
      2. 7.2 Path Planning for
      3. 7.3 Artificial Potential Fields
      4. 7.4 Sampling-Based Methods
      5. 7.5 Trajectory Planning
      6. 7.6 Chapter Summary
      7. Problems
      8. Notes and References
      9. Notes
  6. Part III Control of Manipulators
    1. Chapter 8 Independent Joint Control
      1. 8.1 Introduction
      2. 8.2 Actuator Dynamics
      3. 8.3 Load Dynamics
      4. 8.4 Independent Joint Model
      5. 8.5 PID Control
      6. 8.6 Feedforward Control
      7. 8.7 Drive-Train Dynamics
      8. 8.8 State Space Design
      9. 8.9 Chapter Summary
      10. Problems
      11. Notes and References
      12. Notes
    2. Chapter 9 Nonlinear and Multivariable Control
      1. 9.1 Introduction
      2. 9.2 PD Control Revisited
      3. 9.3 Inverse Dynamics
      4. 9.4 Passivity-Based Control
      5. 9.5 Torque Optimization
      6. 9.6 Chapter Summary
      7. Problems
      8. Notes and References
      9. Notes
    3. Chapter 10 Force Control
      1. 10.1 Coordinate Frames and Constraints
      2. 10.2 Network Models and Impedance
      3. 10.3 Task Space Dynamics and Control
      4. 10.4 Chapter Summary
      5. Problems
      6. Notes and References
      7. Notes
    4. Chapter 11 Vision-Based Control
      1. 11.1 Design Considerations
      2. 11.2 Computer Vision for Vision-Based Control
      3. 11.3 Camera Motion and the Interaction Matrix
      4. 11.4 The Interaction Matrix for Point Features
      5. 11.5 Image-Based Control Laws
      6. 11.6 End Effector and Camera Motions
      7. 11.7 Partitioned Approaches
      8. 11.8 Motion Perceptibility
      9. 11.9 Summary
      10. Problems
      11. Notes and References
      12. Notes
    5. Chapter 12 Feedback Linearization
      1. 12.1 Background
      2. 12.2 Feedback Linearization
      3. 12.3 Single-Input Systems
      4. 12.4 Multi-Input Systems
      5. 12.5 Chapter Summary
      6. Problems
      7. Notes and References
      8. Notes
  7. Part IV Control of Underactuated Systems
    1. Chapter 13 Underactuated Robots
      1. 13.1 Introduction
      2. 13.2 Modeling
      3. 13.3 Examples of Underactuated Robots
      4. 13.4 Equilibria and Linear Controllability
      5. 13.5 Partial Feedback Linearization
      6. 13.6 Output Feedback Linearization
      7. 13.7 Passivity-Based Control
      8. 13.8 Chapter Summary
      9. Problems
      10. Notes and References
      11. Note
    2. Chapter 14 Mobile Robots
      1. 14.1 Nonholonomic Constraints
      2. 14.2 Involutivity and Holonomy
      3. 14.3 Examples of Nonholonomic Systems
      4. 14.4 Dynamic Extension
      5. 14.5 Controllability of Driftless Systems
      6. 14.6 Motion Planning
      7. 14.7 Feedback Control of Driftless Systems
      8. 14.8 Chapter Summary
      9. Problems
      10. Notes and References
      11. Note
  8. Appendix A Trigonometry
    1. A.1 The Two-Argument Arctangent Function
    2. A.2 Useful Trigonometric Formulas
  9. Appendix B Linear Algebra
    1. B.1 Vectors
    2. B.2 Inner Product Spaces
    3. B.3 Matrices
    4. B.4 Eigenvalues and Eigenvectors
    5. B.5 Differentiation of Vectors
    6. B.6 The Matrix Exponential
    7. B.7 Lie Groups and Lie Algebras
    8. B.8 Matrix Pseudoinverse
    9. B.9 Schur Complement
    10. B.10 Singular Value Decomposition (SVD)
  10. Appendix C Lyapunov Stability
    1. C.1 Continuity and Differentiability
    2. C.2 Vector Fields and Equilibria
    3. C.3 Lyapunov Functions
    4. C.4 Stability Criteria
    5. C.5 Global and Exponential Stability
    6. C.6 Stability of Linear Systems
    7. C.7 LaSalle’s Theorem
    8. C.8 Barbalat’s Lemma
  11. Appendix D Optimization
    1. D.1 Unconstrained Optimization
    2. D.2 Constrained Optimization
  12. Appendix E Camera Calibration
    1. E.1 The Image Plane and the Sensor Array
    2. E.2 Extrinsic Camera Parameters
    3. E.3 Intrinsic Camera Parameters
    4. E.4 Determining the Camera Parameters
    5. Note
  13. Bibliography
  14. Index
  15. End User License Agreement

Product information

  • Title: Robot Modeling and Control, 2nd Edition
  • Author(s): Mark W. Spong, Seth Hutchinson, M. Vidyasagar
  • Release date: March 2020
  • Publisher(s): Wiley
  • ISBN: 9781119523994