2013, XXII, 585 p. 250 illus., 56 illus. in color.
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A unique mathematical introduction to robotic kinematics, statics, dynamics and control with clear physical interpretations, illustrations and computer visualizations, as a perfect robotics textbook
Latest advances in digital human modeling and realistic motion analysis
Comprehensive introduction to 3D graphics and to its implementation all-in-one into a MATLAB program without need of any application programming interface and with no restriction
Written by a leading expert in the field
This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLAB™ codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLAB™, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Content Level »Research
Keywords »3D Graphical Simulations - Control - Digital Human Modelling - Humanoid Robots - Hybrid-Chain Robots - MATLAB - Manufacturing Simulations - Multi-Robot Coordination - Posture Optimization - Redundant Robot
Introduction to Robotics and Digital Human Modeling.- Mathematical Preliminaries.- Representations of Rigid Motion.-Redundant Robots and Hybrid-Chain Robotic Systems.- Digital Mock-Up and 3D Animation for Robot Arms.- Robotic Dynamics: Modeling and Formulations.- Control of Robotic Systems.- Digital Human Modeling: Kinematics and Statics.- Digital Mock-Up and 3D Animation for Robot Arms.- Robotic Dynamics: Modeling and Formulations.- Control of Robotic Systems.- Digital Human Modeling: Kinematics and Statics.