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Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) Hardcover – Jun 21 2010
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From the reviews of the second edition:“The second edition of this popular reference and textbook on robotics includes new material based on suggestions from students and instructors, asking for refinements and clarifications. … The organization of the book is excellent and the ‘fact – reason – application’ presentation methodology will be appreciated by students and instructors as well.” (Franz Selig, Zentralblatt MATH, Vol. 1205, 2011)
From the Back Cover
Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors.
Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
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Most Helpful Customer Reviews on Amazon.com (beta)
All of the material covered needs some preliminary study before reading this book, probably from several sources. However, if anyone should want a full treatment of Rotation,Orientation,Motion and Forward Kinematics, to bring it all together, then this is the book for it. The author gives the clearest diagrams and explanations of the Denavit-Hartenberg Notation I have yet seen. If the previous papers on this topic are anything to go by, this has not been an easy task.
Chapter 2. Rotation Kinematics. Excellent examples of Rotation and Successive Rotation about Global Cartesian Axes; Global Roll-Pitch-Yaw Angles; Successive Rotation about Local Cartesian Axes; Euler Angles.
Chapter 3, on Orientation Kinematics gives advanced treatment of this area.
Chapter 4, again the best single treatment I have seen on Rigid Body Motion, Inverse and Compound Homogeneous Transformations. Screw Coordinates are included for advanced study.
Chapter 5, on Forward Kinematics, gives numerous examples on applications of the Denavit-Hartenberg Notation to Transformations. Again, the best I have seen yet, with respect to the diagrams and accompanying examples.
Chapter 6, on Inverse Kinematics, is well explained.
The remaining chapters, from Angular Velocity to Numerical Methods, Acceleration, Robot and Motion Dynamics appear to be in the same vein, although I have only scanned the contents.
Of course, the reader will come across the odd typo. However, I would like to congratulate the author on writing what must be the leading textbook in this field.
Many animators are not engineers, but are interested in the math behind kinematics. There are few books as up to date at this text in that field. But when you see that quaternion multiplication is "explained" in terms of matrix multiplication and linear algebra, it becomes clear that you need a good grounding in linear and matrix algebra before tackling this volume.
Even the control feedback sections assume you've had at least one or two courses in feedback theory and math. The authors describe this as an "intermediate" text; however, given the paucity of other texts on kinematics in general (at least up to date texts), I'd disagree and call this advanced.
This is not to knock the outstanding quality of the material, just to warn you that if you're into self study, you might be wasting your money when you find the material level assumes a lot of engineering background. NOT a beginning text, sadly, as there are few good ones up to date on kinematics. If you spend your days with Maya and other programs skinning figures, or designing robot joints, and are willing to spend a lot of time on the prep math-- there is no better text available. But it is NOT an introductory text by any means. After all, moving joints around in 3 and 4D IS analytic geometry in motion, and PDE's are abundant in that field.
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