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Robotics is an inter-disciplinary area of engineering, involving mechanical engineering, electrical engineering, electronics engineering and instrumentation & control engineering. The mechanical engineers are generally concerned with the analysis of its motion as well as mechanical strength. This requires analysis of its kinematics and dynamics. Kinematics has two parts – forward kinematics and inverse kinematics. In forward kinematics, we determine the position of the end-effector when the angular and/or linear displacements of individual links are given. In inverse kinematics, we determine the required displacements of the individual links, for the end-effector to acquire a given position. The dynamic analysis involves calculations of accelerations as well in individual links. Out of these, the forward kinematics is conceptually the most difficult. Once one masters it, the remaining things can be easily developed over it. While the standard textbooks on robotics do discuss forward kinematics, these often lack in clarity because of improper assumption of the background of the readers, coupled with inadequate number of solved numerical examples. As a student, the author had to refer to nearly half-a-dozen books to understand the concepts! No single book was found adequate. This has been the motivation for presenting the present book. The author has made good use of his 30+ years of teaching experience to explain the concepts in a student-friendly manner. It is hoped that the readers will be able to follow it in a single reading, without requiring any additional help in the form of another book or an instructor. The step-by-step explanations in all the numerical examples would make it hard for the readers to not understand these! After a careful study of the book, the readers should be able to analyse the kinematics of even the most complex serial robots.

ASIN ‏ : ‎ B0BBWL6N37
Publication date ‏ : ‎ August 24, 2022
Language ‏ : ‎ English
File size ‏ : ‎ 4258 KB
Text-to-Speech ‏ : ‎ Not enabled
Enhanced typesetting ‏ : ‎ Not Enabled
X-Ray ‏ : ‎ Not Enabled
Word Wise ‏ : ‎ Not Enabled
Sticky notes ‏ : ‎ Not Enabled

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