Robotics

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.