Theory of Applied Robotics: Kinematics, Dynamics, and Control [Hardcover]

Reza N. Jazar (Author)

Book Description

Publication Date: February 23, 2007 | ISBN-10: 0387324755 | ISBN-13: 978-0387324753 | Edition: 1

Theory of Applied Robotics: Kinematics, Dynamics, and Control is appropriate for courses in robotics that emphasize kinematics, dynamics, and control.

The contents of this book are presented at a theoretical-practical level. It explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.

Theory of Applied Robotics: Kinematics, Dynamics, and Control includes:

• Richly illustrated chapters and over 200 diagrams to help readers visualize concepts.

• More than 300 detailed examples with fully-worked solutions which expose readers to a balanced and broad understanding of robotics in today’s world.

• A wealth of detailed problem sets and challenge problems for each chapter for the more advanced reader.

• A rich solutions manual which is available for instructors.

Reza N. Jazar is an associate professor in the Mechanical Engineering Department at Manhattan College. His main research areas is nonlinear dynamic systems, including robotics, vehicles, and MEMS. He's written extensively on many diverse topics in applied mathematics and mechanical engineering subjects. He regularly teaches undergraduate and graduate-level courses on mechanical engineering.

Editorial Reviews

Review

From the reviews:

"The author has selected about 330 examples to illustrate the theory. Many examples are based on practical robotics problems, and the solutions are fully developed. In the introduction the symbols and abbreviations are defined and are being used consistently throughout the text. … The organization of the book and its didactic niceties will be appreciated by serious students as well as by instructors." (Franz Selig, Zentralblatt MATH, Vol. 1120 (22), 2007)

"This is a classical textbook on robotics that could employed in the teaching of an upper undergraduate or a lower graduate introductory robotics course … . The exposition is guided through more than 300 examples, which is a main feature of this book. … Each chapter ends with a summary and a collection of exercises. The book concludes with a list of references and four appendices." (Krzysztof Tchon , Mathematical Reviews, Issue 2009 b)

From the Back Cover

Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics. --This text refers to an alternate Hardcover edition.

Product Details

• Hardcover: 695 pages
• Publisher: Springer; 1 edition (February 23, 2007)
• Language: English
• ISBN-10: 0387324755
• ISBN-13: 978-0387324753
• Product Dimensions: 9.3 x 6.5 x 1.4 inches
• Shipping Weight: 2.4 pounds
• Average Customer Review: 5.0 out of 5 stars  See all reviews (5 customer reviews)
• Amazon Best Sellers Rank: #1,282,289 in Books (See Top 100 in Books)

More About the Author

Dr. Jazar is a professor of Mechanical Engineering. He received his MS in Mechanical Engineering from Tehran Polytechnic (1990) in Robotics, and his PhD from Sharif University of Technology (1997) in Nonlinear Vibrations and Applied Mathematics. He has been working in North American Universities since 1999. Working in several universities around the world has made him familiar with many different successful academic disciplines and methods.

He has several years of work experience in Automotive industries all around the world. He has worked as a researcher or manager of some projects for some famous automotive manufacturers in Japan, Korea, Germany, Framce, and USA.

His research interests are: Nonlinear Vibrations and Nonlinear Dynamics, including: Vehicles; Robotics; MEMS; Orbit Mechanics; Mechatronics.

He is the author of more than 200 scientific papers and monographs, and the author of some technical books including:

"Theory of Applied Robotics: Kinematics, Dynamics, and Control," Springer, New York, 2007,

"Vehicle Dynamics: Theory and Applications," Springer, New York, 2009,

"Vibrations of Thick Cylindrical Structures: Theory and Applications," with colaboration of professor Hamid R. Hamidzadeh, Springer, New York, 2009,

"Advanced Dynamics," Wiley, New York, 2010.

Dr. Jazar's research highlights includes:
* Razi acceleration, and theory of time derivative and coordinate frame.
* Order free transformations for connected multibodies
* Caster theory in vehicle dynamics to increase the stability and maneuverability
* Autodriver algorithm in design of autonomous vehicles
* Caster theory in design of smart vehicles
* Floating-time method in optimal control theory
* Energy-rate method in stability of dynamics systems
* RMS optimization method in vibration optimization
* Mathematical modeling of hydraulic mounts in vibration isolation
* Mathematical modeling of squeeze-film and thermal damping in MEMS
* Frequency response of piecewise linear vibration isolator

Customer Reviews

Most Helpful Customer Reviews

21 of 22 people found the following review helpful:

5.0 out of 5 stars Writers of Computer Graphics Textbooks, please note., March 31, 2008

By 

John P. F. Oconnor "jpfoc" (Katy, TX) - See all my reviews
(REAL NAME)   

Amazon Verified Purchase

This review is from: Theory of Applied Robotics: Kinematics, Dynamics, and Control (Hardcover)

I wanted a book that covered Inverse Kinematics for animation in computer graphics. What I found was a book that not only went further than my needs, but turned out to be the most comprehensive coverage of IK and associated topics that I have yet come across.

All of the material covered needs some preliminary study before reading this book, probably from several sources. However, if anyone should want a full treatment of Rotation,Orientation,Motion and Forward Kinematics, to bring it all together, then this is the book for it. The author gives the clearest diagrams and explanations of the Denavit-Hartenberg Notation I have yet seen. If the previous papers on this topic are anything to go by, this has not been an easy task.

Chapter 2. Rotation Kinematics. Excellent examples of Rotation and Successive Rotation about Global Cartesian Axes; Global Roll-Pitch-Yaw Angles; Successive Rotation about Local Cartesian Axes; Euler Angles.

Chapter 3, on Orientation Kinematics gives advanced treatment of this area.

Chapter 4, again the best single treatment I have seen on Rigid Body Motion, Inverse and Compound Homogeneous Transformations. Screw Coordinates are included for advanced study.

Chapter 5, on Forward Kinematics, gives numerous examples on applications of the Denavit-Hartenberg Notation to Transformations. Again, the best I have seen yet, with respect to the diagrams and accompanying examples.

Chapter 6, on Inverse Kinematics, is well explained.

The remaining chapters, from Angular Velocity to Numerical Methods, Acceleration, Robot and Motion Dynamics appear to be in the same vein, although I have only scanned the contents.

Of course, the reader will come across the odd typo. However, I would like to congratulate the author on writing what must be the leading textbook in this field.

4 of 4 people found the following review helpful:

5.0 out of 5 stars Very Thorough, August 20, 2010

By 

Joshua James Smith (Lynnwood, Washington) - See all my reviews

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This review is from: Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) (Hardcover)

This book does a very good job of showing every step involved with many examples. It tends to show numerical examples and is a little light on theory, but this is an applied robotics book so no fault there. It makes a good text to have in conjunction with other robotics books.

2 of 2 people found the following review helpful:

5.0 out of 5 stars Mind opening, easy to follow, lots of useful content., June 12, 2011

By 

Starlino (USA) - See all my reviews

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This review is from: Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) (Hardcover)

This book proved to be very useful in understanding the subject of orientation kinematics and DCM matrix. It helped me write a little tutorial on my blog (google: starlino dcm ) that contain some notes and my own view on the subject. This book is really easy to follow, just make sure you read the introduction that covers the notation conventions.