Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition)

893 Pages·2010·5.47 MB·English

by  Reza N. Jazar (auth.)

Theory of Applied Robotics

Reza N. Jazar
Theory of Applied Robotics
Kinematics, Dynamics, and Control
Second Edition
123
Prof.RezaN.Jazar
SchoolofAerospace,Mechanical,and
ManufacturingEngineering
RMITUniversity
Melbourne,Victoria
Australia
[email protected]
ISBN978-1-4419-1749-2 e-ISBN978-1-4419-1750-8
DOI10.1007/978-1-4419-1750-8
SpringerNewYorkDordrechtHeidelbergLondon
LibraryofCongressControlNumber:2010926033
(cid:2)c SpringerScience+BusinessMedia,LLC2006, 2010
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Dedicated to my wife,
Mojgan
and our children,
Vazan
and
Kavosh.

I am Cyrus, king of the world, great king, mighty king,
king of Babylon, king of Sumer and Akkad, king of the four quarters.
I ordered to write books, many books, books to teach my people,
I ordered to make schools, many schools, to educate my people.
Marduk, the lord of the gods, said burning books is the greatest sin.
I, Cyrus, and my people, and my army will protect books and schools.
They will fight whoever burns books and burns schools, the great sin.
Cyrus the great

Preface to the Second Edition
The second edition of this book would not have been possible
without the comments and suggestions from my students, especially
those at Columbia University. Many of the new topics introduced here
are a direct result of student feedback that helped me refine and clarify
the material.
My intention when writing this book was to develop material that I
would have liked to had available as a student. Hopefully, I have
succeeded in developing a reference that covers all aspects of robotics
with sufficient detail and explanation.
The first edition of this book was published in 2007 and soon after its
publication it became a very popular reference in the field of robotics. I
wish to thank the many students and instructors who have used the
book or referenced it. Your questions, comments and suggestions have
helped me create the second edition.