Introduction to Robotics: Mechanics and Control, 4/e (IE-Paperback)
暫譯: 機器人學導論：機械與控制，第4版 (IE-平裝本)

John Craig

Introduction to Robotics: Mechanics and Control, 4/e (IE-Paperback)

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商品描述

Description
An intuitive introduction to robotic theory and application

Since its original publication in 1986, Craig’s Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming.

The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.

 

Features
New to this Edition

  • Real-world applications present underlying theories in simple, understandable ways. This practicality helps students learn how to write algorithms to perform required computations.
  • End-of-chapter exercises feature “difficulty grades” so instructors can assign to students and easily implement a grade-point plan.
  • Programming Assignments at the end of each chapter emphasize concepts from a software perspective.
  • A balanced approach presents robotics concepts from mechanical, control theory, and computer science subdisciplines.
  • NEW! Additional exercises have been added to the end of each chapter.
  • UPDATED! New references, materials, and figures account for changing technology and reflect today’s robotics landscape.
  • REVISED! More than 100 minor typos have been corrected throughout the text.
  • NEW! Two sections have been added, including Section 8.9 on optical encoders and Section 10.9 on adaptive control.
  • Additional exercises have been added at the end of each chapter.
  • New section 8.9 added on optical encoders.
  • New section 10.9 added on adaptive control.
  • Updated material and references for changing technology and today’s robotics landscape.
  • Several new or updated figures.
  • More than 100 minor typos and other errors corrected.

商品描述(中文翻譯)

描述

機器人理論與應用的直觀介紹



自1986年首次出版以來，Craig的機器人學導論：力學與控制一直是大學層級教授機器人的主要教科書。該書將傳統的機械工程材料與計算機科學和控制理論概念相結合，涵蓋了一系列主題，包括剛體變換、正向與反向位置運動學、連桿的速度與雅可比矩陣、動力學、線性與非線性控制、力控制方法、機械設計方面以及機器人編程。



第四版在應用與理論之間取得平衡，介紹機械操作的科學與工程——建立並深化對力學、控制理論和計算機科學的基礎理解。該書強調問題的計算方面，旨在以簡單、直觀的方式呈現材料。

特點

本版新增內容



  • 實際應用以簡單易懂的方式呈現基礎理論。這種實用性幫助學生學會如何編寫算法以執行所需的計算。


  • 章末練習設有“難度等級”，方便教師分配給學生並輕鬆實施成績計劃。


  • 編程作業在每章結尾強調從軟體角度理解的概念。


  • 平衡的方法從機械、控制理論和計算機科學的子學科呈現機器人概念。


  • 新增！額外練習已添加至每章結尾。


  • 更新！新的參考資料、材料和圖形考慮到技術的變化，反映當今的機器人領域。


  • 修訂！超過100處小錯誤已在文本中更正。


  • 新增！兩個部分已添加，包括第8.9節關於光學編碼器和第10.9節關於自適應控制。


  • 章末新增練習已添加。


  • 新增第8.9節關於光學編碼器。


  • 新增第10.9節關於自適應控制。


  • 更新的材料和參考文獻以反映技術變化和當今的機器人領域。

  • 幾個新的或更新的圖形。


  • 超過100處小錯誤及其他錯誤已更正。

目錄大綱

Table of Contents
1. Introduction
2. Spatial Transformations
3. Forward Kinematics
4. Inverse Kinematics
5. Velocities, Static Forces, and Jacobians
6. Dynamics
7. Trajectory Planning
8. Mechanical Design of Robots
9. Linear Control
10. Non-Linear Control
11. Force Control
12. Programming Languages and Systems
13. Simulation and Off-Line Programming

目錄大綱(中文翻譯)

Table of Contents

1. Introduction

2. Spatial Transformations

3. Forward Kinematics

4. Inverse Kinematics

5. Velocities, Static Forces, and Jacobians

6. Dynamics

7. Trajectory Planning

8. Mechanical Design of Robots

9. Linear Control

10. Non-Linear Control

11. Force Control

12. Programming Languages and Systems

13. Simulation and Off-Line Programming

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