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Modern Robotics : Mechanics, Planning, and Control[¾çÀå]

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Foreword Roger Brockett
Foreword Matthew Mason
Preface

1. Preview
2. Configuration space
3. Rigid-body motions
4. Forward kinematics
5. Velocity kinematics and statics
6. Inverse kinematics
7. Kinematics of closed chains
8. Dynamics of open chains
9. Trajectory generation
10. Motion planning
11. Robot control
12. Grasping and manipulation
13. Wheeled mobile robots

Appendix
A. Summary of useful formulas
Appendix B. Other representations of rotations
Appendix C. Denavit-Hartenberg parameters
Appendix D. Optimization and Lagrange multipliers

Bibliography
Index.

Ã¥¼Ò°³

This introduction to robotics offers a distinct and unified perspective of the mechanics, planning and control of robots. Ideal for self-learning, or for courses, as it assumes only freshman-level physics, ordinary differential equations, linear algebra and a little bit of computing background. Modern Robotics presents the state-of-the-art, screw-theoretic techniques capturing the most salient physical features of a robot in an intuitive geometrical way. With numerous exercises at the end of each chapter, accompanying software written to reinforce the concepts in the book and video lectures aimed at changing the classroom experience, this is the go-to textbook for learning about this fascinating subject.

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FRANK C. PARK [Àú] ½ÅÀ۾˸² SMS½Åû
»ý³â¿ùÀÏ -

Frank C. Park received his B.S. in Electrical Engineering from Massachusetts Institute of Technology in 1985, and his Ph.D. in Applied Mathematics from Harvard University, Massachusetts in 1991. He has been on the faculty at University of California, Irvine and since 1995 he has been Professor of Mechanical and Aerospace Engineering at Seoul National University. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an Institute

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Kevin M. Lynch [Àú] ½ÅÀ۾˸² SMS½Åû
»ý³â¿ùÀÏ -

Kevin M. Lynch received his B.S.E. in Electrical Engineering from Princeton, New Jersey in 1989, and Ph.D. in Robotics from Carnegie Mellon University, Pennsylvania in 1996. He has been a faculty member at Northwestern University, Illinois since 1997 and has held visiting positions at California Institute of Technology, Carnegie Mellon University, Tsukuba University, Japan and Northeastern University in Shenyang, China. His research focuses on dynamics, motion planning and control for robot manipulation and locomotion; self-

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