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Theory of Applied Robotics: Kinematics, Dynamics, and Control Hardcover – 26 Mar 2007


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Hardcover, 26 Mar 2007
£39.00 £49.36

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Product details

  • Hardcover: 695 pages
  • Publisher: Springer (26 Mar. 2007)
  • Language: English
  • ISBN-10: 0387324755
  • ISBN-13: 978-0387324753
  • Product Dimensions: 15.6 x 4 x 23.4 cm
  • Average Customer Review: 5.0 out of 5 stars  See all reviews (1 customer review)
  • Amazon Bestsellers Rank: 2,524,826 in Books (See Top 100 in Books)
  • See Complete Table of Contents

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 several projects for many 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 several technical books including:

"Theory of Applied Robotics: Kinematics, Dynamics, and Control," second edition, Springer, New York, 2010,

"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, 2010,

"Advanced Dynamics," Wiley, New York, 2011.

"Nonlinear Approaches in Engineering," with colaboration of professor Liming Dai, Springer, New York, 2012.

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

Product Description

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. a ] 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)

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.

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Most Helpful Customer Reviews

1 of 1 people found the following review helpful By Joaquín Carré Seras on 10 April 2010
Format: Hardcover
If you really want to master theoretical robotics then this is your book. You should have into account that this is a classical mechanics point of view of robotics. Anyway, this includes nearly all you need to know, it is a bast amount of informations you will rarely find in internet.
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Most Helpful Customer Reviews on Amazon.com (beta)

Amazon.com: 9 reviews
25 of 26 people found the following review helpful
Writers of Computer Graphics Textbooks, please note. 31 Mar. 2008
By John P. F. Oconnor - Published on Amazon.com
Format: Hardcover Verified Purchase
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.
5 of 5 people found the following review helpful
Very Thorough 20 Aug. 2010
By Josh Smith - Published on Amazon.com
Format: Hardcover Verified Purchase
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.
3 of 3 people found the following review helpful
Mind opening, easy to follow, lots of useful content. 13 Jun. 2011
By Starlino - Published on Amazon.com
Format: Hardcover Verified Purchase
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.
3 of 4 people found the following review helpful
Awesome even for Animators but HEAVY math... 16 Nov. 2012
By Let's Compare Options Preptorial - Published on Amazon.com
Format: Hardcover Verified Purchase
As in matrix and linear algebra, partial derivatives, numerical methods, dynamics, kinematics and of course vector analysis w/lots of trig. One might think that one of the best recent texts ever written on inverse kinematics would be ideal for those of us designing joints both for animation and robotics, but a BIG dose of engineering kinematics is assumed to begin with. The authors say "three years of undergrad" would do it-- maybe at MIT, but a LOT of this material is graduate level in UK and US contexts.

Many animators are not engineers, but are interested in the math behind kinematics. There are few books as up to date at this text in that field. But when you see that quaternion multiplication is "explained" in terms of matrix multiplication and linear algebra, it becomes clear that you need a good grounding in linear and matrix algebra before tackling this volume.

Even the control feedback sections assume you've had at least one or two courses in feedback theory and math. The authors describe this as an "intermediate" text; however, given the paucity of other texts on kinematics in general (at least up to date texts), I'd disagree and call this advanced.

This is not to knock the outstanding quality of the material, just to warn you that if you're into self study, you might be wasting your money when you find the material level assumes a lot of engineering background. NOT a beginning text, sadly, as there are few good ones up to date on kinematics. If you spend your days with Maya and other programs skinning figures, or designing robot joints, and are willing to spend a lot of time on the prep math-- there is no better text available. But it is NOT an introductory text by any means. After all, moving joints around in 3 and 4D IS analytic geometry in motion, and PDE's are abundant in that field.
A good book 6 Mar. 2014
By Tom Tran - Published on Amazon.com
Format: Hardcover Verified Purchase
This book is a comprehensive one full of usefull and practical technical details and applications. Nice and good work and Thanks!
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