Robot Modeling and Kinematics

The past few years have seen many improvements and innovations in computer graphics and visualization software, programming tools, and a wealth of mathematical packages that facilitate the teaching of robotics at the undergraduate and graduate levels. Robot Modeling and Kinematics works as an introductory textbook to robotics with the concentration being on modeling and kinematics which are often covered in a first semester course in robotics. Because it includes software that covers recent developments in visualization and computation, it is ideal for engineering professionals. It also explores important topics covered in a second semester robotics courses such as dynamics, control, and programming. While mathematically rigorous, the concentration of the text will be on ease of understanding of the concepts. Robot kinematics, robot modeling, general 3D object position and orientation, and trajectories are presented throughout the text. For many of the illustrations presented in the book, the reader is referred to a corresponding Virtual Reality Modeling Language (VRML) file that will display a Virtual Reality (VR) image on a computer display. By allowing the students to view figures and animation in 3D space, it provides a more comprehensive process of learning. Whether the book is intended for an introductory first semester or second semester course, Robot Modeling and Kinematics is the essential text for providing a thorough observation on the topics of modeling and kinematics.

Robot Modeling and Kinematics teaches the fundamental topics of robotics, using cutting-edge visualization software and computer tools to illustrate topics and provide a comprehensive process of teaching and learning. The book provides an introduction to robotics with an emphasis on the study of robotic arms, their mathematical description, and the equations describing their motion. It teaches how to model robotic arms efficiently and analyze their kinematics. The kinematics of robot manipulators is also presented beginning with the use of simple robot mechanisms and progressing to the most complex robot manipulator structures. While mathematically rigorous, the book's focus is on ease of understanding of the concepts with interactive animated computer graphics illustrations and modeling software that allow clear understanding of the material covered in the book. All necessary computations are concisely explained and software is provided that greatly eases the computational burden normally associated with robotics. Written for use in a robotics course or as a professional reference, Robot Modeling and Kinematics is an essential resource that provides a thorough understanding of the topics of modeling and kinematics.