Modern Robotics: Mechanics, Planning, and Control [Bookshelf

Abstract

This book offers a comprehensive contemporary approach to the modeling and control of robotic mechanisms. It presents results on stability analysis and control design of networked teleoperation systems. The text overviews commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays and interval time delays. This book also presents several high-performance control schemes for teleoperation systems with and without velocity measurements and for systems with nonlinear inputs. The results presented here should be of interest to researchers and students in robotic control theory, nonlinear control theory, and networked control system theory. It is not just another undergraduate textbook on robotics. It offers a comprehensive contemporary approach to the modeling and control of robotic mechanisms. Methods and algorithms for modeling; motion planning; and control of serial, parallel, and mobile robots are introduced along with a thorough (yet accessible) treatment of the geometry of motion. It is the pedagogical strength of this book that concepts from Lie group theory (which form the building blocks of modern kinematics) are presented in a way that will appeal to undergraduate students as well as to researchers and roboticists in general. The reader is given the necessary tools to model the kinematics and dynamics of a robot, plan its motion, and control it. These are the features that distinguish this book from other excellent references in the area of advanced modeling and control of robotic systems.