Screw Theory for Robotics: A practical approach for Modern Robot KINEMATICS - Softcover

Pardos-Gotor, Dr. José M.

Softcover

ISBN 10: 1717931812 ISBN 13: 9781717931818

Publisher: Independently published, 2018

Synopsis

This book will present the basics and canonical applications of the screw theory for robotics, with a focus on explaining robot KINEMATICS in an illustrated way.The intent is not provide a thorough explanation of all mathematics involved, but rather to give the reader a vade mecum of advanced kinematics based on the screw theory. Its rewarding models and examples that can be cornerstones for efficient and effective robotics applications.One aim of this work is to provide robotics stakeholders  (e.g. students, engineers, scientists and practitioners), material to go in depth into these methodologies, through representative practical graphical instances and exercises.The idea is to present the necessary mathematical background, theory and examples in an integrated and visual fashion. Code is at the core of this work, as the programs illuminate the topics and examples teached and discussed. Most of the figures in this text have been generated by the code and simulations provided. They are available at the website linked to this book: (github.com/DrPardosGotor/ScrewTheoryRobotics-KINEMATICS-Illustrated). This site is built to reinforce the concepts of this book and to make the formulas operational. On this website you have granted access to texts, a software toolbox, and many coded examples and simulations for real robots. All this, is useful to be extended to applications for many robotics structures and configurations, even outside the field of industrial manipulators (e.g. humanoids, drones, autonomous vehicles). The scope of the book is focused on a modern approach for robot KINEMATICS based on screw theory. Other key aspects for robot projects, such as dynamics and control, are left out for later works, because their scope goes beyond this handbook's contents.

About this title

From the Back Cover

The importance of screw theory in robotics is recognised but hardly capitalised on. Engineering students rarely get to learn about it in class, so only few postgraduates know how to exploit it. However, in a variety of areas of robotics, the methods and formalisms based on the geometry and algebra of the screws, have proven to be superior to other techniques. The idea of publishing this book came about because there were not enough specialised texts for teaching the screw theory methodologies and advantages through a set of visual and comprehensive examples. This illustrated handbook presents an abstract mathematical formulation for robot KINEMATICS based in the use of the screw theory tools, making an emphasis on modern geometric techniques. Its main objective is to demonstrate that many robotics problems addressed today only with numerical iterative solutions, are solved much better with closed-form geometric solutions based on screw theory. This book will surely spark your excitement about the technological and social prospects for robotics and enable you to develop effective and efficient robot algorithms, solutions and applications. In the end you will realise that, most of the time, a good theory is the fastest way to obtain a better performance, and the only thing you will have to do in exchange is put in some time and commitment in studying the screw theory. The contents of this handbook are used at the "Master in Robotics and Automation" of the UC3M (Universidad Carlos III de Madrid) by the Department of Systems Engineering and Automation.

About the Author

Dr. José M. Pardos-Gotor is a Spaniard born in Switzerland with an extensive international career in the energy industry. He works for the Spanish utility ENDESA and has developed projects in Europe and Latin America in the fields of: Change Management, Sustainability, Electric Vehicles, Business Model Generation, Innovation, R&D, Commodity Markets & Trading, Energy Management and Power Generation.
He is an Associate Professor in the Department of Systems Engineering & Automation at the UC3M (Universidad Carlos III de Madrid). His teaching and research areas are focused on production systems, industrial automation and ROBOTICS.

Edition details

• Publisher: Independently published
• Publication date: 2018
• ISBN 10: 1717931812
• ISBN 13: 9781717931818
• Binding: Paperback
• Language: English
• Number of pages: 210