{"product_id":"modern-robotics-mechanics-planning-and-control-1st-edition","title":"Modern Robotics: Mechanics, Planning, and Control 1st Edition","description":"\u003cdiv id=\"bookDescription_feature_div\" class=\"celwidget\" data-feature-name=\"bookDescription\" data-csa-c-type=\"widget\" data-csa-c-content-id=\"bookDescription\" data-csa-c-slot-id=\"bookDescription_feature_div\" data-csa-c-asin=\"191416119X\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-id=\"v2qtpm-il6e8f-7s3rfn-6dqbo1\" data-cel-widget=\"bookDescription_feature_div\"\u003e\n\u003cdiv data-a-expander-name=\"book_description_expander\" data-a-expander-collapsed-height=\"280\" class=\"a-expander-collapsed-height a-row a-expander-container a-spacing-base a-expander-partial-collapse-container\"\u003e\n\u003cdiv data-expanded=\"false\" class=\"a-expander-content a-expander-partial-collapse-content\"\u003e\n\u003cdiv data-cel-widget=\"bookDescription_feature_div\" data-csa-c-id=\"vdza35-7pewfj-mdn14k-p4qlnn\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-asin=\"1119502012\" data-csa-c-slot-id=\"bookDescription_feature_div\" data-csa-c-content-id=\"bookDescription\" data-csa-c-type=\"widget\" data-feature-name=\"bookDescription\" class=\"celwidget\" id=\"bookDescription_feature_div\"\u003e\n\u003cdiv class=\"a-expander-collapsed-height a-row a-expander-container a-spacing-base a-expander-partial-collapse-container\" data-a-expander-collapsed-height=\"280\" data-a-expander-name=\"book_description_expander\"\u003e\n\u003cdiv class=\"a-expander-content a-expander-partial-collapse-content\" data-expanded=\"false\"\u003e\n\u003cdiv data-cel-widget=\"bookDescription_feature_div\" data-csa-c-id=\"7s1m85-5bddjg-jo5lri-jtgo9o\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-asin=\"1107156300\" data-csa-c-slot-id=\"bookDescription_feature_div\" data-csa-c-content-id=\"bookDescription\" data-csa-c-type=\"widget\" data-feature-name=\"bookDescription\" class=\"celwidget\" id=\"bookDescription_feature_div\"\u003e\n\u003cdiv class=\"a-expander-collapsed-height a-row a-expander-container a-spacing-base a-expander-partial-collapse-container\" data-a-expander-collapsed-height=\"280\" data-a-expander-name=\"book_description_expander\"\u003e\n\u003cdiv class=\"a-expander-content a-expander-partial-collapse-content\" data-expanded=\"false\"\u003e\u003cspan\u003eThis 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.\u003c\/span\u003e\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cdiv data-cel-widget=\"globalStoreInfoBullets_feature_div\" data-csa-c-id=\"4skxep-bcii9u-kvnaas-bbzic5\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-asin=\"1107156300\" data-csa-c-slot-id=\"globalStoreInfoBullets_feature_div\" data-csa-c-content-id=\"globalStoreInfoBullets\" data-csa-c-type=\"widget\" data-feature-name=\"globalStoreInfoBullets\" class=\"celwidget\" id=\"globalStoreInfoBullets_feature_div\"\u003e\u003c\/div\u003e\n\u003cdiv data-cel-widget=\"buyingOptionNostosBadge_feature_div\" data-csa-c-id=\"anab9p-dkgyq-n4drl4-q0xale\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-asin=\"1107156300\" data-csa-c-slot-id=\"buyingOptionNostosBadge_feature_div\" data-csa-c-content-id=\"buyingOptionNostosBadge\" data-csa-c-type=\"widget\" data-feature-name=\"buyingOptionNostosBadge\" class=\"celwidget\" id=\"buyingOptionNostosBadge_feature_div\"\u003e\u003c\/div\u003e\n\u003cdiv data-cel-widget=\"tellAmazon_feature_div\" data-csa-c-id=\"13jrad-jw0qfi-mod39v-ddo1bp\" data-csa-c-is-in-initial-active-row=\"false\" data-csa-c-asin=\"1107156300\" data-csa-c-slot-id=\"tellAmazon_feature_div\" data-csa-c-content-id=\"tellAmazon\" data-csa-c-type=\"widget\" data-feature-name=\"tellAmazon\" class=\"celwidget\" id=\"tellAmazon_feature_div\"\u003e\n\u003cdiv data-cel-widget=\"tell-amazon-desktop_DetailPage_5\" data-csa-c-id=\"x6p9um-i40184-8h8jhr-z1aqik\" data-csa-c-painter=\"tell-amazon-desktop-cards\" data-csa-c-type=\"widget\" data-csa-c-slot-id=\"DsUnknown-6\" data-csa-c-content-id=\"DsUnknown\" data-csa-op-log-render=\"\" class=\"celwidget c-f\"\u003e\n\u003cdiv data-mix-claimed=\"true\" data-acp-tracking=\"{}\" data-card-metrics-id=\"tell-amazon-desktop_DetailPage_5\" id=\"CardInstancebsymF0PjGSX6eZ0UDRb5VQ\"\u003e\n\u003cdiv class=\"_tell-amazon-desktop_style_tell_amazon_div__1YDZk\" data-logged-in=\"true\" data-marketplace=\"ATVPDKIKX0DER\" data-asin=\"1107156300\"\u003e\u003cbr\u003e\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003cp\u003e\u003cstrong\u003eContents\u003c\/strong\u003e\u003cbr\u003eForeword by Roger Brockett ix\u003cbr\u003eForeword by Matthew Mason xi\u003cbr\u003ePreface xiii\u003cbr\u003e1 Preview 1\u003cbr\u003e2 Configuration Space 11\u003cbr\u003e2.1 Degrees of Freedom of a Rigid Body . . . . . . . . . . . . . . . . 12\u003cbr\u003e2.2 Degrees of Freedom of a Robot . . . . . . . . . . . . . . . . . . . 15\u003cbr\u003e2.2.1 Robot Joints . . . . . . . . . . . . . . . . . . . . . . . . . 16\u003cbr\u003e2.2.2 Gr¨ubler’s Formula . . . . . . . . . . . . . . . . . . . . . . 17\u003cbr\u003e2.3 Configuration Space: Topology and Representation . . . . . . . . 23\u003cbr\u003e2.3.1 Configuration Space Topology . . . . . . . . . . . . . . . . 23\u003cbr\u003e2.3.2 Configuration Space Representation . . . . . . . . . . . . 25\u003cbr\u003e2.4 Configuration and Velocity Constraints . . . . . . . . . . . . . . . 29\u003cbr\u003e2.5 Task Space and Workspace . . . . . . . . . . . . . . . . . . . . . 32\u003cbr\u003e2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36\u003cbr\u003e2.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 38\u003cbr\u003e2.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38\u003cbr\u003e3 Rigid-Body Motions 59\u003cbr\u003e3.1 Rigid-Body Motions in the Plane . . . . . . . . . . . . . . . . . . 62\u003cbr\u003e3.2 Rotations and Angular Velocities . . . . . . . . . . . . . . . . . . 68\u003cbr\u003e3.2.1 Rotation Matrices . . . . . . . . . . . . . . . . . . . . . . 68\u003cbr\u003e3.2.2 Angular Velocities . . . . . . . . . . . . . . . . . . . . . . 76\u003cbr\u003e3.2.3 Exponential Coordinate Representation of Rotation . . . 79\u003cbr\u003e3.3 Rigid-Body Motions and Twists . . . . . . . . . . . . . . . . . . . 89\u003cbr\u003ei\u003cbr\u003eii Contents\u003cbr\u003e3.3.1 Homogeneous Transformation Matrices . . . . . . . . . . 89\u003cbr\u003e3.3.2 Twists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97\u003cbr\u003e3.3.3 Exponential Coordinate Representation of Rigid-Body Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104\u003cbr\u003e3.4 Wrenches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108\u003cbr\u003e3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111\u003cbr\u003e3.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113\u003cbr\u003e3.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 115\u003cbr\u003e3.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116\u003cbr\u003e4 Forward Kinematics 137\u003cbr\u003e4.1 Product of Exponentials Formula . . . . . . . . . . . . . . . . . . 140\u003cbr\u003e4.1.1 First Formulation: Screw Axes in the Base Frame . . . . 141\u003cbr\u003e4.1.2 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 143\u003cbr\u003e4.1.3 Second Formulation: Screw Axes in the End-Effector Frame148\u003cbr\u003e4.2 The Universal Robot Description Format . . . . . . . . . . . . . 152\u003cbr\u003e4.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158\u003cbr\u003e4.4 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159\u003cbr\u003e4.5 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 160\u003cbr\u003e4.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160\u003cbr\u003e5 Velocity Kinematics and Statics 171\u003cbr\u003e5.1 Manipulator Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 178\u003cbr\u003e5.1.1 Space Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 178\u003cbr\u003e5.1.2 Body Jacobian . . . . . . . . . . . . . . . . . . . . . . . . 183\u003cbr\u003e5.1.3 Visualizing the Space and Body Jacobian . . . . . . . . . 185\u003cbr\u003e5.1.4 Relationship between the Space and Body Jacobian . . . 187\u003cbr\u003e5.1.5 Alternative Notions of the Jacobian . . . . . . . . . . . . 187\u003cbr\u003e5.1.6 Looking Ahead to Inverse Velocity Kinematics . . . . . . 189\u003cbr\u003e5.2 Statics of Open Chains . . . . . . . . . . . . . . . . . . . . . . . . 190\u003cbr\u003e5.3 Singularity Analysis . . . . . . . . . . . . . . . . . . . . . . . . . 191\u003cbr\u003e5.4 Manipulability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196\u003cbr\u003e5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200\u003cbr\u003e5.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201\u003cbr\u003e5.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 201\u003cbr\u003e5.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202\u003cbr\u003e6 Inverse Kinematics 219\u003cbr\u003e6.1 Analytic Inverse Kinematics . . . . . . . . . . . . . . . . . . . . . 221\u003cbr\u003e6.1.1 6R PUMA-Type Arm . . . . . . . . . . . . . . . . . . . . 221\u003cbr\u003e6.1.2 Stanford-Type Arms . . . . . . . . . . . . . . . . . . . . . 225\u003cbr\u003eMay 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http:\/\/modernrobotics.org\u003cbr\u003eContents iii\u003cbr\u003e6.2 Numerical Inverse Kinematics . . . . . . . . . . . . . . . . . . . . 226\u003cbr\u003e6.2.1 Newton–Raphson Method . . . . . . . . . . . . . . . . . . 227\u003cbr\u003e6.2.2 Numerical Inverse Kinematics Algorithm . . . . . . . . . 227\u003cbr\u003e6.3 Inverse Velocity Kinematics . . . . . . . . . . . . . . . . . . . . . 232\u003cbr\u003e6.4 A Note on Closed Loops . . . . . . . . . . . . . . . . . . . . . . . 234\u003cbr\u003e6.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235\u003cbr\u003e6.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235\u003cbr\u003e6.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 236\u003cbr\u003e6.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236\u003cbr\u003e7 Kinematics of Closed Chains 245\u003cbr\u003e7.1 Inverse and Forward Kinematics . . . . . . . . . . . . . . . . . . 247\u003cbr\u003e7.1.1 3×RPR Planar Parallel Mechanism . . . . . . . . . . . . . 247\u003cbr\u003e7.1.2 Stewart–Gough Platform . . . . . . . . . . . . . . . . . . 249\u003cbr\u003e7.1.3 General Parallel Mechanisms . . . . . . . . . . . . . . . . 251\u003cbr\u003e7.2 Differential Kinematics . . . . . . . . . . . . . . . . . . . . . . . . 252\u003cbr\u003e7.2.1 Stewart–Gough Platform . . . . . . . . . . . . . . . . . . 252\u003cbr\u003e7.2.2 General Parallel Mechanisms . . . . . . . . . . . . . . . . 254\u003cbr\u003e7.3 Singularities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256\u003cbr\u003e7.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261\u003cbr\u003e7.5 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 262\u003cbr\u003e7.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263\u003cbr\u003e8 Dynamics of Open Chains 271\u003cbr\u003e8.1 Lagrangian Formulation . . . . . . . . . . . . . . . . . . . . . . . 272\u003cbr\u003e8.1.1 Basic Concepts and Motivating Examples . . . . . . . . . 272\u003cbr\u003e8.1.2 General Formulation . . . . . . . . . . . . . . . . . . . . . 277\u003cbr\u003e8.1.3 Understanding the Mass Matrix . . . . . . . . . . . . . . 279\u003cbr\u003e8.1.4 Lagrangian Dynamics vs. Newton–Euler Dynamics . . . . 281\u003cbr\u003e8.2 Dynamics of a Single Rigid Body . . . . . . . . . . . . . . . . . . 283\u003cbr\u003e8.2.1 Classical Formulation . . . . . . . . . . . . . . . . . . . . 283\u003cbr\u003e8.2.2 Twist–Wrench Formulation . . . . . . . . . . . . . . . . . 288\u003cbr\u003e8.2.3 Dynamics in Other Frames . . . . . . . . . . . . . . . . . 290\u003cbr\u003e8.3 Newton–Euler Inverse Dynamics . . . . . . . . . . . . . . . . . . 291\u003cbr\u003e8.3.1 Derivation . . . . . . . . . . . . . . . . . . . . . . . . . . . 291\u003cbr\u003e8.3.2 Newton-Euler Inverse Dynamics Algorithm . . . . . . . . 294\u003cbr\u003e8.4 Dynamic Equations in Closed Form . . . . . . . . . . . . . . . . . 294\u003cbr\u003e8.5 Forward Dynamics of Open Chains . . . . . . . . . . . . . . . . . 298\u003cbr\u003e8.6 Dynamics in the Task Space . . . . . . . . . . . . . . . . . . . . . 300\u003cbr\u003e8.7 Constrained Dynamics . . . . . . . . . . . . . . . . . . . . . . . . 301\u003cbr\u003eMay 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http:\/\/modernrobotics.org\u003cbr\u003eiv Contents\u003cbr\u003e8.8 Robot Dynamics in the URDF . . . . . . . . . . . . . . . . . . . 303\u003cbr\u003e8.9 Actuation, Gearing, and Friction . . . . . . . . . . . . . . . . . . 303\u003cbr\u003e8.9.1 DC Motors and Gearing . . . . . . . . . . . . . . . . . . . 305\u003cbr\u003e8.9.2 Apparent Inertia . . . . . . . . . . . . . . . . . . . . . . . 310\u003cbr\u003e8.9.3 Newton–Euler Inverse Dynamics Algorithm Accounting\u003cbr\u003efor Motor Inertias and Gearing . . . . . . . . . . . . . . . 312\u003cbr\u003e8.9.4 Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314\u003cbr\u003e8.9.5 Joint and Link Flexibility . . . . . . . . . . . . . . . . . . 314\u003cbr\u003e8.10 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315\u003cbr\u003e8.11 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319\u003cbr\u003e8.12 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 320\u003cbr\u003e8.13 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321\u003cbr\u003e9 Trajectory Generation 325\u003cbr\u003e9.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325\u003cbr\u003e9.2 Point-to-Point Trajectories . . . . . . . . . . . . . . . . . . . . . 326\u003cbr\u003e9.2.1 Straight-Line Paths . . . . . . . . . . . . . . . . . . . . . 326\u003cbr\u003e9.2.2 Time Scaling a Straight-Line Path . . . . . . . . . . . . . 328\u003cbr\u003e9.3 Polynomial Via Point Trajectories . . . . . . . . . . . . . . . . . 334\u003cbr\u003e9.4 Time-Optimal Time Scaling . . . . . . . . . . . . . . . . . . . . . 336\u003cbr\u003e9.4.1 The (s, s˙) Phase Plane . . . . . . . . . . . . . . . . . . . . 339\u003cbr\u003e9.4.2 The Time-Scaling Algorithm . . . . . . . . . . . . . . . . 341\u003cbr\u003e9.4.3 A Variation on the Time-Scaling Algorithm . . . . . . . . 342\u003cbr\u003e9.4.4 Assumptions and Caveats . . . . . . . . . . . . . . . . . . 344\u003cbr\u003e9.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345\u003cbr\u003e9.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346\u003cbr\u003e9.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 347\u003cbr\u003e9.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348\u003cbr\u003e10 Motion Planning 353\u003cbr\u003e10.1 Overview of Motion Planning . . . . . . . . . . . . . . . . . . . . 353\u003cbr\u003e10.1.1 Types of Motion Planning Problems . . . . . . . . . . . . 354\u003cbr\u003e10.1.2 Properties of Motion Planners . . . . . . . . . . . . . . . 355\u003cbr\u003e10.1.3 Motion Planning Methods . . . . . . . . . . . . . . . . . . 356\u003cbr\u003e10.2 Foundations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358\u003cbr\u003e10.2.1 Configuration Space Obstacles . . . . . . . . . . . . . . . 358\u003cbr\u003e10.2.2 Distance to Obstacles and Collision Detection . . . . . . . 362\u003cbr\u003e10.2.3 Graphs and Trees . . . . . . . . . . . . . . . . . . . . . . . 364\u003cbr\u003e10.2.4 Graph Search . . . . . . . . . . . . . . . . . . . . . . . . . 365\u003cbr\u003e10.3 Complete Path Planners . . . . . . . . . . . . . . . . . . . . . . . 368\u003cbr\u003eMay 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http:\/\/modernrobotics.org\u003cbr\u003eContents v\u003cbr\u003e10.4 Grid Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369\u003cbr\u003e10.4.1 Multi-Resolution Grid Representation . . . . . . . . . . . 372\u003cbr\u003e10.4.2 Grid Methods with Motion Constraints . . . . . . . . . . 373\u003cbr\u003e10.5 Sampling Methods . . . . . . . . . . . . . . . . . . . . . . . . . . 378\u003cbr\u003e10.5.1 The RRT Algorithm . . . . . . . . . . . . . . . . . . . . . 379\u003cbr\u003e10.5.2 The PRM Algorithm . . . . . . . . . . . . . . . . . . . . . 384\u003cbr\u003e10.6 Virtual Potential Fields . . . . . . . . . . . . . . . . . . . . . . . 386\u003cbr\u003e10.6.1 A Point in C-space . . . . . . . . . . . . . . . . . . . . . . 386\u003cbr\u003e10.6.2 Navigation Functions . . . . . . . . . . . . . . . . . . . . . 389\u003cbr\u003e10.6.3 Workspace Potential . . . . . . . . . . . . . . . . . . . . . 390\u003cbr\u003e10.6.4 Wheeled Mobile Robots . . . . . . . . . . . . . . . . . . . 391\u003cbr\u003e10.6.5 Use of Potential Fields in Planners . . . . . . . . . . . . . 392\u003cbr\u003e10.7 Nonlinear Optimization . . . . . . . . . . . . . . . . . . . . . . . 392\u003cbr\u003e10.8 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394\u003cbr\u003e10.9 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394\u003cbr\u003e10.10Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 397\u003cbr\u003e10.11Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398\u003cbr\u003e11 Robot Control 403\u003cbr\u003e11.1 Control System Overview . . . . . . . . . . . . . . . . . . . . . . 404\u003cbr\u003e11.2 Error Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405\u003cbr\u003e11.2.1 Error Response . . . . . . . . . . . . . . . . . . . . . . . . 406\u003cbr\u003e11.2.2 Linear Error Dynamics . . . . . . . . . . . . . . . . . . . 406\u003cbr\u003e11.3 Motion Control with Velocity Inputs . . . . . . . . . . . . . . . . 413\u003cbr\u003e11.3.1 Motion Control of a Single Joint . . . . . . . . . . . . . . 414\u003cbr\u003e11.3.2 Motion Control of a Multi-joint Robot . . . . . . . . . . . 418\u003cbr\u003e11.3.3 Task-Space Motion Control . . . . . . . . . . . . . . . . . 419\u003cbr\u003e11.4 Motion Control with Torque or Force Inputs . . . . . . . . . . . . 420\u003cbr\u003e11.4.1 Motion Control of a Single Joint . . . . . . . . . . . . . . 421\u003cbr\u003e11.4.2 Motion Control of a Multi-joint Robot . . . . . . . . . . . 429\u003cbr\u003e11.4.3 Task-Space Motion Control . . . . . . . . . . . . . . . . . 433\u003cbr\u003e11.5 Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434\u003cbr\u003e11.6 Hybrid Motion–Force Control . . . . . . . . . . . . . . . . . . . . 437\u003cbr\u003e11.6.1 Natural and Artificial Constraints . . . . . . . . . . . . . 437\u003cbr\u003e11.6.2 A Hybrid Motion–Force Controller . . . . . . . . . . . . . 439\u003cbr\u003e11.7 Impedance Control . . . . . . . . . . . . . . . . . . . . . . . . . . 441\u003cbr\u003e11.7.1 Impedance-Control Algorithm . . . . . . . . . . . . . . . . 443\u003cbr\u003e11.7.2 Admittance-Control Algorithm . . . . . . . . . . . . . . . 444\u003cbr\u003e11.8 Low-Level Joint Force\/Torque Control . . . . . . . . . . . . . . . 445\u003cbr\u003e11.9 Other Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448\u003cbr\u003eMay 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http:\/\/modernrobotics.org\u003cbr\u003evi Contents\u003cbr\u003e11.10Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449\u003cbr\u003e11.11Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451\u003cbr\u003e11.12Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 452\u003cbr\u003e11.13Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453\u003cbr\u003e12 Grasping and Manipulation 461\u003cbr\u003e12.1 Contact Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . 463\u003cbr\u003e12.1.1 First-Order Analysis of a Single Contact . . . . . . . . . . 463\u003cbr\u003e12.1.2 Contact Types: Rolling, Sliding, and Breaking Free . . . . 465\u003cbr\u003e12.1.3 Multiple Contacts . . . . . . . . . . . . . . . . . . . . . . 468\u003cbr\u003e12.1.4 Collections of Bodies . . . . . . . . . . . . . . . . . . . . . 472\u003cbr\u003e12.1.5 Other Types of Contacts . . . . . . . . . . . . . . . . . . . 472\u003cbr\u003e12.1.6 Planar Graphical Methods . . . . . . . . . . . . . . . . . . 473\u003cbr\u003e12.1.7 Form Closure . . . . . . . . . . . . . . . . . . . . . . . . . 478\u003cbr\u003e12.2 Contact Forces and Friction . . . . . . . . . . . . . . . . . . . . . 484\u003cbr\u003e12.2.1 Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484\u003cbr\u003e12.2.2 Planar Graphical Methods . . . . . . . . . . . . . . . . . . 487\u003cbr\u003e12.2.3 Force Closure . . . . . . . . . . . . . . . . . . . . . . . . . 489\u003cbr\u003e12.2.4 Duality of Force and Motion Freedoms . . . . . . . . . . . 494\u003cbr\u003e12.3 Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494\u003cbr\u003e12.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501\u003cbr\u003e12.5 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 503\u003cbr\u003e12.6 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504\u003cbr\u003e13 Wheeled Mobile Robots 513\u003cbr\u003e13.1 Types of Wheeled Mobile Robots . . . . . . . . . . . . . . . . . . 514\u003cbr\u003e13.2 Omnidirectional Wheeled Mobile Robots . . . . . . . . . . . . . . 515\u003cbr\u003e13.2.1 Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . 515\u003cbr\u003e13.2.2 Motion Planning . . . . . . . . . . . . . . . . . . . . . . . 520\u003cbr\u003e13.2.3 Feedback Control . . . . . . . . . . . . . . . . . . . . . . . 520\u003cbr\u003e13.3 Nonholonomic Wheeled Mobile Robots . . . . . . . . . . . . . . . 520\u003cbr\u003e13.3.1 Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . 521\u003cbr\u003e13.3.2 Controllability . . . . . . . . . . . . . . . . . . . . . . . . 528\u003cbr\u003e13.3.3 Motion Planning . . . . . . . . . . . . . . . . . . . . . . . 537\u003cbr\u003e13.3.4 Feedback Control . . . . . . . . . . . . . . . . . . . . . . . 542\u003cbr\u003e13.4 Odometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546\u003cbr\u003e13.5 Mobile Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . 548\u003cbr\u003e13.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552\u003cbr\u003e13.7 Notes and References . . . . . . . . . . . . . . . . . . . . . . . . . 554\u003cbr\u003e13.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555\u003cbr\u003eMay 2017 preprint of Modern Robotics, Lynch and Park, Cambridge U. Press, 2017. http:\/\/modernrobotics.org\u003cbr\u003eContents vii\u003cbr\u003eA Summary of Useful Formulas 565\u003cbr\u003eB Other Representations of Rotations 575\u003cbr\u003eB.1 Euler Angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575\u003cbr\u003eB.1.1 Algorithm for Computing the ZYX Euler Angles . . . . . 577\u003cbr\u003eB.1.2 Other Euler Angle Representations . . . . . . . . . . . . . 577\u003cbr\u003eB.2 Roll–Pitch–Yaw Angles . . . . . . . . . . . . . . . . . . . . . . . 580\u003cbr\u003eB.3 Unit Quaternions . . . . . . . . . . . . . . . . . . . . . . . . . . . 581\u003cbr\u003eB.4 Cayley–Rodrigues Parameters . . . . . . . . . . . . . . . . . . . . 582\u003cbr\u003eC Denavit–Hartenberg Parameters 585\u003cbr\u003eC.1 Assigning Link Frames . . . . . . . . . . . . . . . . . . . . . . . . 585\u003cbr\u003eC.2 Why Four Parameters are Sufficient . . . . . . . . . . . . . . . . 589\u003cbr\u003eC.3 Manipulator Forward Kinematics . . . . . . . . . . . . . . . . . . 590\u003cbr\u003eC.4 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591\u003cbr\u003eC.5 Relation Between the PoE and D–H Representations . . . . . . . 593\u003cbr\u003eC.6 A Final Comparison . . . . . . . . . . . . . . . . . . . . . . . . . 595\u003cbr\u003eD Optimization and Lagrange Multipliers 597\u003cbr\u003eBibliography 599\u003cbr\u003eIndex 617\u003c\/p\u003e\n\u003ch3\u003e\u003cspan\u003eAbout the Author\u003c\/span\u003e\u003c\/h3\u003e\n\u003cdiv class=\"a-section a-spacing-small a-padding-small\"\u003e\u003cspan\u003eKevin M. Lynch received his B.S.E. in Electrical Engineering from Princeton, New Jersey in 1989, and Ph.D. in Robotics from Carnegie Mellon University, Pennsylvania in 1996. He has been a faculty member at Northwestern University, Illinois since 1997 and has held visiting positions at California Institute of Technology, Carnegie Mellon University, Tsukuba University, Japan and Northeastern University in Shenyang, China. His research focuses on dynamics, motion planning and control for robot manipulation and locomotion; self-organizing multi-agent systems; and physically interacting human-robot systems. A Fellow of the Institute of Electrical and Electronics Engineers (IEEE), he also was the recipient of the IEEE Early Career Award in Robotics and Automation, Northwestern's Professorship of Teaching Excellence, and the Northwestern Teacher of the Year award in engineering. Currently he is Senior Editor of the IEEE Robotics and Automation Letters, and the incoming Editor-in-Chief of the IEEE International Conference on Robotics and Automation. This is his third book.\u003cbr\u003e\u003cbr\u003eFrank C. Park received his B.S. in Electrical Engineering from Massachusetts Institute of Technology in 1985, and his Ph.D. in Applied Mathematics from Harvard University, Massachusetts in 1991. He has been on the faculty at University of California, Irvine and since 1995 he has been Professor of Mechanical and Aerospace Engineering at Seoul National University. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an Institute of Electrical and Electronics Engineers (IEEE) Robotics and Automation Society Distinguished Lecturer and has held adjunct faculty positions at the Courant Institute of Mathematical Sciences, New York, the Interactive Computing Department at Georgia Institute of Technology and the Hong Kong University of Science and Technology Robotics Institute. He is a Fellow of the IEEE, Editor-in-Chief of the IEEE Transactions on Robotics, and developer of the EDX course Robot Mechanics and Control I, II.\u003c\/span\u003e\u003c\/div\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003c\/div\u003e\n\u003cp\u003e\u003cstrong\u003e\u003cb\u003eBOOKREAD™ 5-STEP SATISFACTION GUARANTEE\u003c\/b\u003e\u003c\/strong\u003e\u003cbr\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cspan\u003e\u003cstrong\u003e1. No Risk, 30-Day Money-Back Guarantee. \u003cbr\u003e2. instant download. No surprises or hidden fees.\u003cbr\u003e3. Safe Payments via Credit\/Debit Card or PayPal® \u003cbr\u003e4. McAfee™ and SSL secured shopping cart.\u003cbr\u003e5. lifetime customer support.\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003c!----\u003e","brand":"bookread","offers":[{"title":"PDF","offer_id":56754844369227,"sku":null,"price":29.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/1031\/1204\/8971\/files\/416sQp_cttL._SL1000.jpg?v=1773064392","url":"https:\/\/bookread.io\/products\/modern-robotics-mechanics-planning-and-control-1st-edition","provider":"bookread","version":"1.0","type":"link"}