This textbook introduces robotic theories and technologies to audiences, including university students, professionals with engineering backgrounds, and also high school students with interests in building their own robots. We aim to bridge the gap between classic theories and real-world applications of robotic manipulators, which, to date, have far exceeded the domain of conventional industry.
The contents are divided into three parts. The former two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part 1 is an introduction targeting junior students, featuring more simplistic topics and examples. Part 2 provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part 3, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries.
This textbook is valuable to broad readers, including those who have limited background in general engineering and wish to explore non-conventional applications of robotic manipulators. The scaffolded contents from Part 1 to Part 3 are created to lower the prerequisites and smooth the learning curve.
This textbook introduces robotic theories and technologies, bridging the gap between classic theories and real-world applications of robotic manipulators. A valuable resource to broad readers, including those who have a limited background in general engineering and wish to explore non-conventional applications of robotic manipulators.
Contents
Dedications
Preface
Glossary
I. Basics of Robotics
1. Introduction
2. Planar Kinetics, Velocity, And Statics
3. Trajectory Generation
4. Control Schemes
II. Key Topics
5. General Rotations and Transformations
6. Forward Kinematics
7. Inverse Kinematics
8. Jacobian Analysis
9. Path Planning
10. Programming
11. Lagrangian Dynamics
12. Newton-Euler Dynamics
13. Joint Control
14. Computed Torque Control
15. Force Control
III. Advanced Analysis and Case Studies
16. Mobility Analysis
17. Orientation Workspace
18. Constraint Analysis for Underactuated Systems
19. Concentric Tube Robot
20. Path Planning of Parallel Manipulators
21. Minimally-Invasive Surgical Robot with Remote Centre of Motion
22. MARS: The Monash Apple Retrieving System
IV. Appendix
23. Appendices for
Chapter 5
24. Appendices for
Chapter 8
25. Appendices for
Chapter 11
Index
Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria).
Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces.
Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.
