Бесплатная книга по робототехнике

[Ilya Nemihin]

Всем привет!

http://hades.mech.northwestern.edu/index.php/Modern_Robotics

"Modern Robotics: Mechanics, Planning, and Control," Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017 

This book is the result of course notes developed over many years for the course M2794.0027 Introduction to Robotics at Seoul National University and ME 449 Robotic Manipulation at Northwestern University. The evolving course notes have been posted on the internet for years to support these classes. 

Table of Contents:

Preview

Configuration Space

Rigid-Body Motions

Forward Kinematics

Velocity Kinematics and Statics

Inverse Kinematics

Kinematics of Closed Chains

Dynamics of Open Chains

Trajectory Generation

Motion Planning

Robot Control

Grasping and Manipulation

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

 

Примеры сцен на базе симулятора v-rep

http://hades.mech.northwestern.edu/index.php/V-REP_Introduction

Можно скачать и проверить в действии)

С уважением,

Илья