机器人学、建模、规划与控制。

简介：
The renowned robotics textbook, *The classic text on robot manipulators*, has been expanded to incorporate crucial advancements in visual control, sophisticated motion planning techniques, and the burgeoning field of mobile robots. This comprehensive resource furnishes foundational knowledge regarding the core principles underpinning robotics – encompassing modeling, strategic planning, and precise control mechanisms. The book’s structure is carefully designed around a consistent and rigorous mathematical framework, seamlessly integrating fundamental concepts with cutting-edge technological developments, progressing gradually in complexity to address more intricate considerations. Specifically, the initial sections delve into the essential elements of manipulator structures, including kinematics, statics, and trajectory planning; alongside the technological aspects of actuators, sensors, and control units. Subsequently, the text provides detailed instruction on advanced topics such as the dynamics and precise motion control of robot manipulators; interaction with environments utilizing exteroceptive sensory data – specifically force and vision; design and implementation of mobile robots; and advanced motion planning strategies. Appendices are included to guarantee students possess a solid grounding in foundational areas like rigid-body mechanics and feedback control. The material presented emphasizes practical problem-solving skills through a diverse collection of over sixty examples and case studies that are thoughtfully integrated throughout the text, frequently leveraging simulation tools. Furthermore, nearly one hundred fifty end-of-chapter problems are offered for student practice, complemented by a freely accessible PDF solutions manual and MATLAB® code designed for computer-based assignments – resources readily available to instructors utilizing this book as a core component in courses within automation and computer engineering disciplines specializing in electrical, electronic, or mechanical engineering fields with significant robotics content.