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Robotics: Basic Analysis and Design (The Oxford Series in Electrical and Computer Engineering), by William A. Wolovich
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Book by Wolovich, William A.
- Sales Rank: #2487895 in Books
- Brand: Brand: Oxford University Press, USA
- Published on: 1995-06-08
- Original language: English
- Number of items: 1
- Dimensions: .89" h x 7.28" w x 9.53" l,
- Binding: Hardcover
- 416 pages
- Used Book in Good Condition
Most helpful customer reviews
3 of 3 people found the following review helpful.
Good books on robotic motion don't go out of style
By calvinnme
This book was published in 1985, and is still in print at the time I am writing this. However, used copies are selling in the dollar range. If you just ignor the parts of the book that talk about robotic applications and industrial trends that have expired long ago and focus on the very useful portions that teach how to perform the calculations for robot motion, this is a very good book. It has many clear examples and explains all of the formulas in a detailed fashion that you don't commonly find in the more expensive modern texts that attempt to explain robot motion along with other related subjects such as computer vision. The prerequisites for understanding this book are the same as for taking an engineering level course in robotics - matrix algebra, elementary calculus, statics, ordinary linear differential equations, and Laplace transforms. Knowledge of dynamics, computer programming, and control theory, while useful, is not really necessary.
Several problems are presented at the conclusion of each chapter, many of which refer to statements made in the textbook. In this way, the reader is encouraged to actively participate in the development of a particular mathematical equation or a specific numerical result. Five appendices are provided to ensure a common level of understanding of a particular subject before it is introduced in the main text. The following is the detailed table of contents:
1. AN OVERVIEW
1.1 A Chronological Perspective
1.2 Statistics
1.3 Classifications
1.4 Technical Disciplines
1.5 Robot Programming Languages
2. FORWARD KINEMATICS
2.1 Orientation Coordinate Transformations
2.2 Configuration Coordinate Transformations
2.3 Denavit-Hartenberg Coordinate Transformations
2.4 D-H Matrix Composition
3. INVERSE KINEMATICS
3.1 Some General Methods
3.2 The Planar Robot
3.3 The Microbot Robot
3.4 The PUMA 560
3.5 The Stanford Manipulator
4. MOTION KINEMATICS
4.1 The Planar Case
4.2 The Three-Dimensional Case
4.3 Some Spherical Wrist Consequences
4.4 The Stanford Manipulator
5. FORCE/TORQUE RELATIONS
5.1 Force/Moment Translations
5.2 A General Force/Torque Relation
5.3 Some Spherical Wrist Consequences
6. TRAJECTORY PLANNING
6.1 Polynomial Paths and Cubic Segments
6.2 Linear Segments with Parabolic Blends
6.3 Coordinated Motion
7. DYNAMICS (KINETICS)
7.1 Lagrange's Equations
7.2 The Microbot Robot
7.3 Inverse Dynamics
8. POSITIONAL CONTROL
8.1 Unity Feedback Systems
8.2 General Performance Measures
8.3 PID Control
8.4 Inverse Dynamic Feedforward Control
8.5 Nonlinear and Two-Part Conrol
Appendix A - Robotic Terms and Definitions
Appendix B - Matrix/Vector Algebra
Appendix C - Trigonometric Abbreviations and Identities
Appendix D - The Laplace Transform
Appendix E - Moments of Inertia of Common Geometric Shapes
0 of 0 people found the following review helpful.
Great book
By Druster1988
If you're getting started in the robotics world this is a great book to get you started. There are plenty of examples in here and it breaks everything down and written in actual english so you don't have to be a genius to interpret what the author is saying. Good condition and came in handy many times in my robotics courses.
0 of 0 people found the following review helpful.
Robotics Handbook
By C. Johnson
An excellent book to complement a robotics course. It gives worked examples of forward and reverse kinematic equations and much more.
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