Lynch Kevin M., Park Frank C. Modern Robotics: Mechanics, Planning, and Control

Textbook. — Cambridge University Press, 2017. — 624 + 17 p. — (ISBN 978-110-715-630-2).This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art, screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject. Offers a modern treatment of classical screw theory based on linear algebra and differential equations that is accessible to students with a background in linear algebra, differential equations and first-year physics, and some familiarity with programming. Comes with software to accompany the ample algorithmic descriptions for computing covered in the text, allowing students to solve the programming and implementation exercises. Includes numerous standard exercises with solutions at the end of each chapter and video lectures for flipped learning courses. Can be used either with courses or for self-learning.Foreword by Roger Brockett.
Foreword by Matthew Mason.Preview.
Configuration Space.
Degrees of Freedom of a Rigid Body.
Degrees of Freedom of a Robot.
Configuration Space: Topology and Representation.
Configuration and Velocity Constraints.
Task Space and Workspace.Notes and References.
Exercises.
Rigid-Body Motions.
Rigid-Body Motions in the Plane.
Rotations and Angular Velocities.
Rigid-Body Motions and Twists.
Wrenches.Software.
Notes and References.
Exercises.
Forward Kinematics.
Product of Exponentials Formula.
The Universal Robot Description Format.Software.
Notes and References.
Exercises.
Velocity Kinematics and Statics.
Manipulator Jacobian.
Statics of Open Chains.
Singularity Analysis.
Manipulability.Software.
Notes and References.
Exercises.
Inverse Kinematics.
Analytic Inverse Kinematics.
Numerical Inverse Kinematics.
Inverse Velocity Kinematics.
A Note on Closed Loops.Software.
Notes and References.
Exercises.
Kinematics of Closed Chains.
Inverse and Forward Kinematics.
Differential Kinematics.
Singularities.Notes and References.
Exercises.
Dynamics of Open Chains.
Lagrangian Formulation.
Dynamics of a Single Rigid Body.
Newton–Euler Inverse Dynamics.
Dynamic Equations in Closed Form.
Forward Dynamics of Open Chains.
Dynamics in the Task Space.
Constrained Dynamics.
Robot Dynamics in the URDF.
Actuation, Gearing, and Friction.Software.
Notes and References.
Exercises.
Trajectory Generation.
Definitions.
Point-to-Point Trajectories.
Polynomial Via Point Trajectories.
Time-Optimal Time Scaling.Software.
Notes and References.
Exercises.
Motion Planning.
Overview of Motion Planning.
Foundations.
Complete Path Planners.
Grid Methods.
Sampling Methods.
Virtual Potential Fields.
Nonlinear Optimization.
Smoothing.Notes and References.
Exercises.
Robot Control.
Control System Overview.
Error Dynamics.
Motion Control with Velocity Inputs.
Motion Control with Torque or Force Inputs.
Force Control.
Hybrid Motion–Force Control.
Impedance Control.
Low-Level Joint Force/Torque Control.
Other Topics.Software.
Notes and References.
Exercises.
Grasping and Manipulation.
Contact Kinematics.
Contact Forces and Friction.
Manipulation.Notes and References.
Exercises.
Wheeled Mobile Robots.
Types of Wheeled Mobile Robots.
Omnidirectional Wheeled Mobile Robots.
Nonholonomic Wheeled Mobile Robots.
Odometry.
Mobile Manipulation.Notes and References.
Exercises.
Summary of Useful Formulas.
Other Representations of Rotations.
Euler Angles.
Roll–Pitch–Yaw Angles.
Unit Quaternions.
Cayley–Rodrigues Parameters.
Denavit–Hartenberg Parameters.
Assigning Link Frames.
Why Four Parameters are Sufficient.
Manipulator Forward Kinematics.
Examples.
Relation Between the PoE and D–H Representations.
A Final Comparison.
Optimization and Lagrange Multipliers.