Robotics: From Theory to Practice

Robotics: From Theory to Practice by Chao Chen, Wesley Au, Shao Liu
English | 2025 | PDF, EPUB | 459 pages | 23.9 MB

Robotics: From Theory to Practice introduces robotic theories and technologies to audiences, including university students, professionals with engineering backgrounds, and even high-school students interested in building their own robots. We aim to bridge the gap between classic theories and real-world applications of robotic manipulators, which, to date, have far exceeded the domain of conventional industry.

The contents are divided into three parts. The first two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part I is an introduction targeting junior students, featuring more simplistic topics and examples. Part II provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part III, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries.

There are concepts and theorems in robotics that may be difficult to understand or visualise, particularly those involving three or more dimensions. Therefore, we have included comprehensive examples with MATLAB code, which can assist in the visualisation and understanding, and also be generalised for various robotic systems. We hope that this feature will make the fundamental mathematics and algorithms more interesting, insightful, and engaging for the readers.

Throughout this textbook, we used a variety of MATLAB functions and features to model various aspects of a serial robot. MATLAB provides the perfect environment for learning robotics, not only to model the kinematics and dynamics of a robot but also to provide visualisations using MATLAB's built-in graphical functions.

This textbook is valuable to broad readers, including those who have limited background in general engineering and wish to explore non-conventional applications of robotic manipulators. The scaffolded contents from Part I to Part III are created to lower the prerequisites and smooth the learning curve.

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