Introduction to Robotics: Mechanics and Control, 4th edition

For senior-year undergraduate and first-year graduate courses in robotics.

An intuitive introduction to robotic theory and application

Since its original publication in 1986, Craig’s Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming.

The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.

About the Book

• Real-world applications present underlying theories in simple, understandable ways. This practicality helps students learn how to write algorithms to perform required computations.
• End-of-chapter exercises feature “difficulty grades” so instructors can assign to students and easily implement a grade-point plan.
• Programming Assignments at the end of each chapter emphasize concepts from a software perspective.
• A balanced approach presents robotics concepts from mechanical, control theory, and computer science subdisciplines.
• NEW! Additional exercises have been added to the end of each chapter.
• UPDATED! New references, materials, and figures account for changing technology and reflect today’s robotics landscape.
• REVISED! More than 100 minor typos have been corrected throughout the text.
• NEW! Two sections have been added, including Section 8.9 on optical encoders and Section 10.9 on adaptive control.

About the Book

• Additional exercises have been added at the end of each chapter
• New section 8.9 added on optical encoders
• New section 10.9 addedon adaptive control
• Updated material and references for changing technology and today’s robotics landscape
• Several new or updated figures
• More than 100 minor typos and other errors corrected