Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria).Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.

"The authors very clearly and comprehensively present the fundamentals of robotics, with an emphasis on thorough understanding and rigorous - yet accessible - mathematical support. The book contains many illustrative examples that will guide the readers through the learning journey. An outstanding text for anyone interested in robotics."Clément Gosselin, Université Laval, Québec, Canada"The contributors are experienced scholars in the field. The book will be greatly valuable to grad students, researchers, and practitioners."Yu Sun, University of Toronto, Ontario, Canada"This book is an indispensable resource for a wide range of readers, from those seeking to conduct their first robotics project to those who desire to deepen their understanding of robotic theories and practical implementation. The author's clear and concise presentation of classic robotics theories lays a solid groundwork for readers with minimum prerequisite knowledge. The inclusion of case studies on real-world robots of medical, agricultural, and soft robots further illustrates the book's core concepts in action of effectively bridging the gap between theoretical understanding and practical application in robotics."Jian Dai, King's college London, UK

• ContentsDedicationsPrefaceGlossaryI. Basics of Robotics1. Introduction2. Planar Kinetics, Velocity, And Statics3. Trajectory Generation4. Control SchemesII. Key Topics5. General Rotations and Transformations6. Forward Kinematics7. Inverse Kinematics8. Jacobian Analysis9. Path Planning10. Programming11. Lagrangian Dynamics12. Newton-Euler Dynamics13. Joint Control14. Computed Torque Control15. Force ControlIII. Advanced Analysis and Case Studies16. Mobility Analysis17. Orientation Workspace18. Constraint Analysis for Underactuated Systems19. Concentric Tube Robot20. Path Planning of Parallel Manipulators21. Minimally-Invasive Surgical Robot with Remote Centre of Motion22. MARS: The Monash Apple Retrieving SystemIV. Appendix23. Appendices for Chapter 524. Appendices for Chapter 825. Appendices for Chapter 11Index

Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria).Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.

"The authors very clearly and comprehensively present the fundamentals of robotics, with an emphasis on thorough understanding and rigorous - yet accessible - mathematical support. The book contains many illustrative examples that will guide the readers through the learning journey. An outstanding text for anyone interested in robotics."Clément Gosselin, Université Laval, Québec, Canada"The contributors are experienced scholars in the field. The book will be greatly valuable to grad students, researchers, and practitioners."Yu Sun, University of Toronto, Ontario, Canada"This book is an indispensable resource for a wide range of readers, from those seeking to conduct their first robotics project to those who desire to deepen their understanding of robotic theories and practical implementation. The author's clear and concise presentation of classic robotics theories lays a solid groundwork for readers with minimum prerequisite knowledge. The inclusion of case studies on real-world robots of medical, agricultural, and soft robots further illustrates the book's core concepts in action of effectively bridging the gap between theoretical understanding and practical application in robotics."Jian Dai, King's college London, UK

• ContentsDedicationsPrefaceGlossaryI. Basics of Robotics1. Introduction2. Planar Kinetics, Velocity, And Statics3. Trajectory Generation4. Control SchemesII. Key Topics5. General Rotations and Transformations6. Forward Kinematics7. Inverse Kinematics8. Jacobian Analysis9. Path Planning10. Programming11. Lagrangian Dynamics12. Newton-Euler Dynamics13. Joint Control14. Computed Torque Control15. Force ControlIII. Advanced Analysis and Case Studies16. Mobility Analysis17. Orientation Workspace18. Constraint Analysis for Underactuated Systems19. Concentric Tube Robot20. Path Planning of Parallel Manipulators21. Minimally-Invasive Surgical Robot with Remote Centre of Motion22. MARS: The Monash Apple Retrieving SystemIV. Appendix23. Appendices for Chapter 524. Appendices for Chapter 825. Appendices for Chapter 11Index

Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria).Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.

"The authors very clearly and comprehensively present the fundamentals of robotics, with an emphasis on thorough understanding and rigorous - yet accessible - mathematical support. The book contains many illustrative examples that will guide the readers through the learning journey. An outstanding text for anyone interested in robotics."Clément Gosselin, Université Laval, Québec, Canada"The contributors are experienced scholars in the field. The book will be greatly valuable to grad students, researchers, and practitioners."Yu Sun, University of Toronto, Ontario, Canada"This book is an indispensable resource for a wide range of readers, from those seeking to conduct their first robotics project to those who desire to deepen their understanding of robotic theories and practical implementation. The author's clear and concise presentation of classic robotics theories lays a solid groundwork for readers with minimum prerequisite knowledge. The inclusion of case studies on real-world robots of medical, agricultural, and soft robots further illustrates the book's core concepts in action of effectively bridging the gap between theoretical understanding and practical application in robotics."Jian Dai, King's college London, UK

• ContentsDedicationsPrefaceGlossaryI. Basics of Robotics1. Introduction2. Planar Kinetics, Velocity, And Statics3. Trajectory Generation4. Control SchemesII. Key Topics5. General Rotations and Transformations6. Forward Kinematics7. Inverse Kinematics8. Jacobian Analysis9. Path Planning10. Programming11. Lagrangian Dynamics12. Newton-Euler Dynamics13. Joint Control14. Computed Torque Control15. Force ControlIII. Advanced Analysis and Case Studies16. Mobility Analysis17. Orientation Workspace18. Constraint Analysis for Underactuated Systems19. Concentric Tube Robot20. Path Planning of Parallel Manipulators21. Minimally-Invasive Surgical Robot with Remote Centre of Motion22. MARS: The Monash Apple Retrieving SystemIV. Appendix23. Appendices for Chapter 524. Appendices for Chapter 825. Appendices for Chapter 11Index