Mark W. Spong - Böcker

This is a self-contained introduction to practical robot kinematics and dynamics, including a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases, and there are many worked examples, examples illustrating all aspects of the theory, and problems.

A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and ControlIn the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis.With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ●      Motion-planning, collision avoidance, trajectory optimization, and control of robots●      Popular topics within the robotics industry and how they apply to various technologies●      An expanded set of examples, simulations, problems, and case studies●      Open-ended suggestions for students to apply the knowledge to real-life situationsA four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.

Introduction to Modeling and Simulation An essential introduction to engineering system modeling and simulation from a well-trusted source in engineering and education This new introductory-level textbook provides thirteen self-contained chapters, each covering an important topic in engineering systems modeling and simulation. The importance of such a topic cannot be overstated; modeling and simulation will only increase in importance in the future as computational resources improve and become more powerful and accessible, and as systems become more complex. This resource is a wonderful mix of practical examples, theoretical concepts, and experimental sessions that ensure a well-rounded education on the topic. The topics covered in Introduction to Modeling and Simulation are timeless fundamentals that provide the necessary background for further and more advanced study of one or more of the topics. The text includes topics such as linear and nonlinear dynamical systems, continuous-time and discrete-time systems, stability theory, numerical methods for solution of ODEs, PDE models, feedback systems, optimization, regression and more. Each chapter provides an introduction to the topic to familiarize students with the core ideas before delving deeper. The numerous tools and examples help ensure students engage in active learning, acquiring a range of tools for analyzing systems and gaining experience in numerical computation and simulation systems, from an author prized for both his writing and his teaching over the course of his over-40-year career. Introduction to Modeling and Simulation readers will also find: Numerous examples, tools, and programming tips to help clarify points made throughout the textbook, with end-of-chapter problems to further emphasize the materialAs systems become more complex, a chapter devoted to complex networks including small-world and scale-free networks – a unique advancement for textbooks within modeling and simulationA complementary website that hosts a complete set of lecture slides, a solution manual for end-of-chapter problems, MATLAB files, and case-study exercisesIntroduction to Modeling and Simulation is aimed at undergraduate and first-year graduate engineering students studying systems, in diverse avenues within the field: electrical, mechanical, mathematics, aerospace, bioengineering, physics, and civil and environmental engineering. It may also be of interest to those in mathematical modeling courses, as it provides in-depth material on MATLAB simulation and contains appendices with brief reviews of linear algebra, real analysis, and probability theory.

We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control.

Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems.The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation.Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.