This book bridges the gap between robotic theory and practical applications in the modelling, planning and control of modern industrial robots.
Beginning with a brief history of industrial robots, the foundations of robotic theory such as spatial transformations, kinematics and dynamics are introduced, leading to the modelling of the robotic systems. Based on the fundations, robotic motion generation, planning, and control are discussed in the ensuing chapters. Each chapter includes examples and worked solutions, and MATLAB code for graphical and numerical simulations to assist in understanding key theorems, concepts, and algorithms.
This book is a valuable resource for university students at all levels, as well as professionals who are interested in robotics and have a limited background in engineering or mathematics.
Part 1: The Fundamentals 1. Introduction 2. Spatial Transformation 3. Direct Kinematics 4. Inverse Kinematics 5. Velocity Analysis 6. Lagrangian Dynamics 7. Newton-Euler Dynamics Part 2: Motion Planning and Control 8. Trajectory Generation 9. Path Planning 10. Joint Control 11. Nonlinear Control 12. Force Control 13. Programming
Biography
Associate Professor Chao Chen
Associate Professor Chao Chen received his Bachelor degree in Mechanical Engineering at Shanghai Jiao Tong University in 1996, and Master and Ph.D. Degrees in Robotics at McGill University in 2002 and 2006, respectively. He received the FQRNT Postdoctoral Fellowship and worked at University of Toronto from 2006 to 2007. Chen joined the Department of Mechanical and Aerospace Engineering at Monash University in 2007, and has been teaching Robotics as a fourth-year subject since then. He also serves as the Course Director of Robotics and Mechatronics. Chen established the Laboratory of Motion Generation and Analysis, with the goal to improve the quality of life of people by smart robotic technology. His research interest is in the frontier robotic technologies with applications in space, agriculture, and medicine.
Dr. Wesley Au
Dr. Wesley Au received his Bachelor’s degree in Mechatronics Engineering and Applied Mathematics in 2010, and then his Ph.D. in Robotics in 2015 at Monash University, specialising in robot kinematics and path planning. He then joined University of Technology Sydney as a research fellow, developing design methodologies and planning strategies for infrastructure maintenance robots, before rejoining Monash University in 2019 to lead A/Prof Chen’s research team on agricultural robots. During this period, he provided teaching assistance and helped develop new coursework for Chen’s Robotics courses. Wesley has since transitioned to industry-based research, joining Boeing Research and Technology Australia in 2022 to leverage his expertise in robotics in supporting cutting-edge automation research for manufacturing in the aerospace industry.
