1st Edition
Fundamentals of Robotics Applied Case Studies with MATLAB® & Python
Preface
I Preliminary Studies
1 Introduction
2 Motion Description
3 Advanced Representations
II Kinematics
4 Forward Kinematics
5 Inverse Kinematics
6 Jacobian Matrix
7 Singularity and Dexterity
III Dynamics
8 Dynamic Analysis
9 Dynamics Properties and Representations
10 Simulation and Calibration
IV Control
11 Linear Motion Control
12 Nonlinear Motion Control
13 Force Control
14 Impedance Control
A Review on Linear Algebra
B Review on Nonlinear Control
Bibliography
Index
Biography
Hamid D. Taghirad received his M.Sc. in mechanical engineering (mechatronics) in 1993 and his Ph.D. in electrical engineering (control–robotics) in 1997, both from McGill University, Montreal, Canada. He is currently a Professor and the Director of the Advanced Robotics and Automated System (ARAS). Additionally, he has served as a Visiting Professor at McGill University, ETS, Concordia University, and most recently at the University of Alberta in Canada. As a senior member of IEEE, Hamid D. Taghirad contributes to the field of Robotics as an associate editor of IEEE Transactions on Medical Robotics and Bionics (IEEE – TMRB) and Frontiers in Robotics and AI – Biomedical Robotics. He is also part of the editorial board of the International Journal of Robotics: Theory and Applications. His research interests primarily revolve around robust and nonlinear control applied to robotics, with a focus on medical robotics, as well as the application of VR and AI technologies in medical applications. He boasts a substantial publication record, including seven books and over 300 papers in peer-reviewed international journals and conference proceedings.
