Description

Suitable for both students and practising engineers or scientists, this book can be used as a textbook and a reference source. It covers the basic principles underlying the design, analysis and synthesis of robotics systems. This book covers a range of topics like robot arm kinematics and dynamics, planning of manipulator trajectories, control of manipulators, sensing, robot programming languages, and robot intelligence and task planning. The mathematics found within this book is clearly explained, with examples and figures being used to clarify the concepts being developed. Many graphical examples are used to clarify the text and to show the effects of different image processing techniques. Examples of mechanical manipulators and different link co-ordinate systems are appropriately associated to robots found in industry, and thus bring theory nicely into the real world. Overall, this is a very useful reference book, with an easy to understand explanation of the topics covered, clear diagrams and figures, with useful examples of image processing techniques. The true power of this book lies in its comprehensive, multi-disciplinary architecture. It systematically bridges the gap between pure mathematics and real-world application. The book provides a rigorous masterclass in robot arm kinematics and dynamics. It breaks down complex spatial transformations, manipulator trajectories, and joint-level control systems with uncompromising mathematical precision, turning raw physics into fluid, predictable motion. Moving beyond simple mechanical movement, it details how machines extract physical data from their surroundings using tactile, proximity, and exteroceptive systems. It transforms robots from blind tools into responsive systems capable of adapting to their environments.