Robot Modeling and Kinematics by Rachid Manseur

Robot Modeling and Kinematics teaches the fundamenta topics of robotics, using Cutting-edge visualization software and computer tools to illustrate topics and provide a comprehensive process of teaching and learning.

The book provides an introduction to robotics with an emphasis on the study of robotic arms, their mathematical description and the equations describing their motion. It teaches how to model robotic arms efficiently and analyze their kinematics. The kinematics of robot manipulators is also presented beginnings with the use of simple robot mechanisms and progressing to the most compelx robot manipulator structures.

While mathematically rigorous, the book's focus is on ease of understanding of the concepts with interactive animated computer graphics illustrations and modelling software that allow clear understanding of the material covered in the book. All necessary computations are concisely explained and software is provided that greatly eases the computational burden normally associated with robotics.

Written for use in a robotics course or as a professional reference, Robot Modeling and Kinematics is an essential resource that provides a thorough
understanding of the topics of modeling and kinematics.
KEY FEATURES: 

• Provides concise, mathematical coverage of the fundamental of robot modeling and kinematics.
• Covers the Denavit-Hartenberg modeling technique with computer graphics tools.
• Uses unique computer graphics modeling software based on VRML for direct visualization of robot structures.
• Provides computational software to generate robotics equations for kinematic analysis of robot arms.
• Provides computational software to assist with solving the inverse kinematics of most robot arms.
• Includes a companion CD-ROM with all the computer programs used in the book, the Cortona Viewer, all the figures from the book, and several VRML files to illustrate textbook discussions.