Introduction to Robotics: Mechanics and Control (3rd Edition)

4,06 valoración promedio
( 89 valoraciones por Goodreads )
 
9780201543612: Introduction to Robotics: Mechanics and Control (3rd Edition)

Now in its third edition, Introduction to Robotics by John J. Craig provides readers with real-world practicality with underlying theory presented. With one half of the material from traditional mechanical engineering material, one fourth control theoretical material, and one fourth computer science, the book covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects and programming of robots. For engineers.

"Sinopsis" puede pertenecer a otra edición de este libro.

From the Back Cover:

An essential book for engineers developing robotic systems, as well as anyone involved with the mechanics, control, or programming of robotic systems. Now in its third edition, the first edition of this classic text was published approximately 20 years ago. The second edition has been in print and highly successful for 16 years.

The book introduces the science and technology of mechanical manipulation. The third edition is organized into 13 chapters.

Numerous exercises and a programming assignment appear at the end of each chapter. Computational aspects of problems are emphasized throughout the book. New in the third edition are MATLAB® exercises.

Excerpt. © Reprinted by permission. All rights reserved.:

Scientists often have the feeling that, through their work, they are learning about some aspect of themselves. Physicists see this connection in their work; so do, for example, psychologists and chemists. In the study of robotics, the connection between the field of study and ourselves is unusually obvious. And, unlike a science that seeks only to analyze, robotics as currently pursued takes the engineering bent toward synthesis. Perhaps it is for these reasons that the field fascinates so many of us.

The study of robotics concerns itself with the desire to synthesize some aspects of human function by the use of mechanisms, sensors, actuators, and computers. Obviously, this is a huge undertaking, which seems certain to require a multitude of ideas from various "classical" fields.

Currently, different aspects of robotics research are carried out by experts in various fields. It is usually not the case that any single individual has the entire area of robotics in his or her grasp. A partitioning of the field is natural to expect. At a relatively high level of abstraction, splitting robotics into four major areas seems reasonable: mechanical manipulation, locomotion, computer vision, and artificial intelligence.

This book introduces the science and engineering of mechanical manipulation. This subdiscipline of robotics has its foundations in several classical fields. The major relevant fields are mechanics, control theory, and computer science. In this book, Chapters 1 through 8 cover topics from mechanical engineering and mathematics, Chapters 9 through 11 cover control-theoretical material, and Chapters 12 and 13 might be classed as computer-science material. Additionally, the book emphasizes computational aspects of the problems throughout; for example, each chapter that is concerned predominantly with mechanics has a brief section devoted to computational considerations.

This book evolved from class notes used to teach "Introduction to Robotics" at Stanford University during the autumns of 1983 through 1985. The first and second editions have been used at many institutions from 1986 through 2002. The third edition has benefited from this use and incorporates corrections and improvements due to feedback from many sources. Thanks to all those who sent corrections to the author.

This book is appropriate for a senior undergraduate- or first-year graduate-level course. It is helpful if the student has had one basic course in statics and dynamics and a course in linear algebra and can program in a high-level language. Additionally, it is helpful, though not absolutely necessary, that the student have completed an introductory course in control theory. One aim of the book is to present material in a simple, intuitive way. Specifically, the audience need not be strictly mechanical engineers, though much of the material is taken from that field. At Stanford, many electrical engineers, computer scientists, and mathematicians found the book quite readable.

Directly, this book is of use to those engineers developing robotic systems, but the material should be viewed as important background material for anyone who will be involved with robotics. In much the same way that software developers have usually studied at least some hardware, people not directly involved with the mechanics and control of robots should have some such background as that offered by this text.

Like the second edition, the third edition is organized into 13 chapters. The material will fit comfortably into an academic semester; teaching the material within an academic quarter will probably require the instructor to choose a couple of chapters to omit. Even at that pace, all of the topics cannot be covered in great depth. In some ways, the book is organized with this in mind; for example, most chapters present only one approach to solving the problem at hand. One of the challenges of writing this book has been in trying to do justice to the topics covered 'within the time constraints of usual teaching situations. One method employed to this end was to consider only material that directly affects the study of mechanical manipulation.

At the end of each chapter is a set of exercises. Each exercise has been assigned a difficulty factor, indicated in square brackets following the exercise's number. Difficulties vary between 00 and 50, where 00 is trivial and 50 is an unsolved research problem. Of course, what one person finds difficult, another might find easy, so some readers will find the factors misleading in some cases. Nevertheless, an effort has been made to appraise the difficulty of the exercises.

At the end of each chapter there is a programming assignment in which the student applies the subject matter of the corresponding chapter to a simple three-jointed planar manipulator. This simple manipulator is complex enough to demonstrate nearly all the principles of general manipulators without bogging the student down in too much complexity. Each programming assignment builds upon the previous ones, until, at the end of the course, the student has an entire library of manipulator software.

Additionally, with the third edition we have added MATLAB exercises to the book. There are a total of 12 MATLAB exercises associated with Chapters 1 through 9. These exercises were developed by Prof. Robert L. Williams II of Ohio University, and we are greatly indebted to him for this contribution. These exercises can be used with the MATLAB Robotics Toolbox created by Peter Corke, Principal Research Scientist with CSIRO in Australia.

Chapter 1 is an introduction to the field of robotics. It introduces some background material, a few fundamental ideas, and the adopted notation of the book, and it previews the material in the later chapters.

Chapter 2 covers the mathematics used to describe positions and orientations in 3-space. This is extremely important material: By definition, mechanical manipulation concerns itself with moving objects (parts, tools, the robot itself) around in space. We need ways to describe these actions in a way that is easily understood and is as intuitive as possible.

Chapters 3 and 4 deal with the geometry of mechanical manipulators. They introduce the branch of mechanical engineering known as kinematics, the study of motion without regard to the forces that cause it. In these chapters, we deal with the kinematics of manipulators, but restrict ourselves to static positioning problems.

Chapter 5 expands our investigation of kinematics to velocities and static forces.

In Chapter 6, we deal for the first time with the forces and moments required to cause motion of a manipulator. This is the problem of manipulator dynamics.

Chapter 7 is concerned with describing motions of the manipulator in terms of trajectories through space.

Chapter 8 many topics related to the mechanical design of a manipulator. For example, how many joints are appropriate, of what type should they be, and how should they be arranged?

In Chapters 9 and 10, we study methods of controlling a manipulator (usually with a digital computer) so that it will faithfully track a desired position trajectory through space. Chapter 9 restricts attention to linear control methods; Chapter 10 extends these considerations to the nonlinear realm.

Chapter 11 covers the field of active force control with a manipulator. That is, we discuss how to control the application of forces by the manipulator. This mode of control is important when the manipulator comes into contact with the environment around it, such as during the washing of a window with a sponge.

Chapter 12 overviews methods of programming robots, specifically the elements needed in a robot programming system, and the particular problems associated with programming industrial robots.

Chapter 13 introduces off-line simulation and programming systems, which represent the latest extension to the man-robot interface.

I would like to thank the many people who have contributed their time to helping me with this book. First, my thanks to the students of Stanford's ME219 in the autumn of 1983 through 1985, who suffered through the first drafts, found many errors, and provided many suggestions. Professor Bernard Roth has contributed in many ways, both through constructive criticism of the manuscript and by providing me with an environment in which to complete the first edition. At SILMA Inc., I enjoyed a stimulating environment, plus resources that aided in completing the second edition. Dr. Jeff Kerr wrote the first draft of Chapter 8. Prof. Robert L. Williams II contributed the MATLAB exercises found at the end of each chapter, and Peter Corke expanded his Robotics Toolbox to support this book's style of the Denavit-Hartenberg notation. I owe a debt to my previous mentors in robotics: Marc Raibert, Carl Ruoff, Tom Binford, and Bernard Roth.

Many others around Stanford, SILMA, Adept, and elsewhere have helped in various ways—my thanks to John Mark Agosta, Mike Ali, Lynn Balling, A1 Barr, Stephen Boyd, Chuck Buckley, Joel Burdick, Jim Callan, Brian Carlisle, Monique Craig, Subas Desa, Tri Dai Do, Karl Garcia, Ashitava Ghosal, Chris Goad, Ron Goldman, Bill Hamilton, Steve Holland, Peter Jackson, Eric Jacobs, Johann Jager, Paul James, Jeff Kerr, Oussama Khatib, Jim Kramer, Dave Lowe, Jim Maples, Dave Marimont, Dave Meer, Kent Ohlund, Madhusudan Raghavan, Richard Roy, Ken Salisbury, Bruce Shimano, Donalda Speight, Bob Tilove, Sandy Wells, and Dave Williams.

The students of Prof. Roth's Robotics Class of 2002 at Stanford used the second edition and forwarded many reminders of the mistakes that needed to get fixed for the third edition.

Finally I wish to thank Tom Robbins at Prentice Hall for his guidance with the first edition and now again with the present edition.

J.J.C.

"Sobre este título" puede pertenecer a otra edición de este libro.

Los mejores resultados en AbeBooks

Edición internacional
Edición internacional

1.

John J. Craig
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Cantidad: 11
Edición internacional
Librería
booksdeck
(Westlake Village, CA, Estados Unidos de America)
Valoración
[?]

Descripción Estado de conservación: New. Brand new book. This is an international edition textbook with identical content as the US version. We ship all our orders from CA/IL, USA (depending on your address) and NOT from Asia! Choose expedited shipping for superfast delivery with tracking. Nº de ref. de la librería 9780201543612

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 12,53
Convertir moneda

Añadir al carrito

Gastos de envío: GRATIS
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

2.

John J. Craig
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Soft cover Cantidad: > 20
Edición internacional
Librería
GREAT BOOKS DEAL
(TALLAHASSEE, FL, Estados Unidos de America)
Valoración
[?]

Descripción Soft cover. Estado de conservación: New. International Edition. Brand NEW, Paperback International Edition. Black & White or color, Cover and ISBN may be different but similar contents as US editions. Standard delivery takes 3-6 business days by USPS/UPS/Fedex with tracking number. Choose expedited shipping for superfast delivery 2-4 business days. We also ship to PO Box addresses. International Edition Textbooks may bear a label ÔNot for sale in the U.S. or CanadaÕ etc. printed only to discourage U.S. students from obtaining an affordable copy. Legal to use despite any disclaimer on cover as per US court. No access code or CD included unless specified. In some instances, the international textbooks may have different exercises at the end of the chapters. Printed in English. 100% Customer satisfaction guaranteed! Please feel free to contact us for any queries. Nº de ref. de la librería USINUS-1593

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 9,36
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,33
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

3.

Craig, John J.
Editorial: Pearson
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Tapa blanda Cantidad: > 20
Edición internacional
Librería
Sunshine Book Store
(Wilmington, DE, Estados Unidos de America)
Valoración
[?]

Descripción Pearson. Estado de conservación: New. 0201543613 This is an International Edition. Brand New, Paperback, Delivery within 6-14 business days, Similar Contents as U.S Edition, ISBN and Cover design may differ, printed in Black & White. Choose Expedited shipping for delivery within 3-8 business days. We do not ship to PO Box, APO , FPO Address. In some instances, subjects such as Management, Accounting, Finance may have different end chapter case studies and exercises. International Edition Textbooks may bear a label "Not for sale in the U.S. or Canada" and "Content may different from U.S. Edition" - printed only to discourage U.S. students from obtaining an affordable copy. The U.S. Supreme Court has asserted your right to purchase international editions, and ruled on this issue. Access code/CD is not provided with these editions , unless specified. We may ship the books from multiple warehouses across the globe, including India depending upon the availability of inventory storage. Customer satisfaction guaranteed. Nº de ref. de la librería SU_9780201543612

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 16,05
Convertir moneda

Añadir al carrito

Gastos de envío: GRATIS
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

4.

John J. Craig
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Paperback Cantidad: > 20
Edición internacional
Librería
US_Superfast_Bookstore
(New Castle, DE, Estados Unidos de America)
Valoración
[?]

Descripción Paperback. Estado de conservación: New. This is an International Edition Brand New Paperback Same Title Author and Edition as listed. ISBN and Cover design differs. Similar Contents as U.S Edition. Standard Delivery within 6-14 business days ACROSS THE GLOBE. We can ship to PO Box address in US. International Edition Textbooks may bear a label "Not for sale in the U.S. or Canada" or "For sale in Asia only" or similar restrictions- printed only to discourage students from obtaining an affordable copy. US Court has asserted your right to buy and use International edition. Access code/CD may not provided with these editions. We may ship the books from multiple warehouses across the globe including Asia depending upon the availability of inventory. Printed in English. Customer satisfaction guaranteed. Nº de ref. de la librería NU_9780201543612

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 14,30
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 2,55
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

5.

Craig John
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Soft cover Cantidad: > 20
Edición internacional
Librería
LOW COST_FAST SHIP
(Scottsdale, AZ, Estados Unidos de America)
Valoración
[?]

Descripción Soft cover. Estado de conservación: New. Opt EXPEDITED shipping for 2 to 4 day delivery - Brand NEW - International Edition - 3ed - SAME Contents as in US edition - SHRINKwrapped BOXpacked - There is no CD or Access Code, unless specified above - Ships from various locations. Nº de ref. de la librería E73

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 12,08
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 5,11
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

6.

Craig, John J.
Editorial: Pearson (2004)
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Tapa dura Cantidad: 8
Edición internacional
Librería
WFL
(Holtsville, NY, Estados Unidos de America)
Valoración
[?]

Descripción Pearson, 2004. Hardcover. Estado de conservación: New. New ,International edition , softcover ,Same text as US edition , ISBN /Cover may be different , Ready to ship, 5-8 business days worldwide delivery. Nº de ref. de la librería INFGYD1F35

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 14,12
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,75
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

7.

Craig, John J.
Editorial: Pearson (2004)
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Tapa dura Cantidad: 5
Edición internacional
Librería
WFL
(Holtsville, NY, Estados Unidos de America)
Valoración
[?]

Descripción Pearson, 2004. Hardcover. Estado de conservación: New. New ,International edition , softcover ,Same text as US edition , ISBN /Cover may be different , Ready to ship, 5-8 business days worldwide delivery. Nº de ref. de la librería INFGYD1G963

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 14,66
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,75
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

8.

Craig, John J.
Editorial: Pearson (2004)
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Tapa dura Cantidad: 5
Edición internacional
Librería
WFL
(Holtsville, NY, Estados Unidos de America)
Valoración
[?]

Descripción Pearson, 2004. Hardcover. Estado de conservación: New. New ,International edition , softcover ,Same text as US edition , ISBN /Cover may be different , Ready to ship, 5-8 business days worldwide delivery. Nº de ref. de la librería INFGYC1G1681

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 14,72
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,75
A Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

9.

John J. Craig
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Tapa blanda Cantidad: 10
Edición internacional
Librería
bookscollection
(Delhi, DELHI, India)
Valoración
[?]

Descripción Estado de conservación: Brand New. PAPERBACK,Book Condition New, International Edition. We Do not Ship APO FPO AND PO BOX. Cover Image & ISBN may be different from US edition but contents as US Edition. Printing in English language.NO CD AND ACCESS CODE. Quick delivery by USPS/UPS/DHL/FEDEX/ARAMEX ,Customer satisfaction guaranteed. We may ship the books from Asian regions for inventory purpose. Nº de ref. de la librería ABEADH##2843

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 16,57
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,59
De India a Estados Unidos de America
Destinos, gastos y plazos de envío
Edición internacional
Edición internacional

10.

John J. Craig
ISBN 10: 0201543613 ISBN 13: 9780201543612
Nuevos Softcover Cantidad: > 20
Edición internacional
Librería
LowPriceBookDeals
(Wilmington, DE, Estados Unidos de America)
Valoración
[?]

Descripción Softcover. Estado de conservación: New. 3rd edition. Brand NEW, Paperback International Edition. Black & White or color, Cover and ISBN may be different but similar contents as US editions. Standard delivery takes 3-6 business days by USPS/UPS/Fedex with tracking number. Choose expedited shipping for superfast delivery 2-4 business days. We do not ship to PO Box addresses. International Edition Textbooks may bear a label Not for sale in the U.S. or Canada etc. printed only to discourage U.S. students from obtaining an affordable copy. Legal to use despite any disclaimer on cover as per US court. No access code or CD included unless specified. In some instances, the international textbooks may have different exercises at the end of the chapters. Printed in English. 100% Customer satisfaction guaranteed! Please feel free to contact us for any queries. Nº de ref. de la librería LBDUS61426763

Más información sobre esta librería | Hacer una pregunta a la librería

Comprar nuevo
EUR 17,48
Convertir moneda

Añadir al carrito

Gastos de envío: EUR 3,15
A Estados Unidos de America
Destinos, gastos y plazos de envío

Existen otras copia(s) de este libro

Ver todos los resultados de su búsqueda