Theory of Applied Robotics Kinematics Dynamics and Control

Theory of Applied Robotics Kinematics Dynamics and Control

Theory of Applied Robotics Kinematics, Dynamics, and Control by Reza N. lazar.

Preface to Theory of Applied Robotics Kinematics Dynamics and Control

This book is designed to serve as a text for engineering students. It introduces the fundamental knowledge used in robotics.

This knowledge can be utilized to develop computer programs for analyzing the kinematics, dynamics, and control of robotic systems.

The subject of robotics may appear overdosed by the number of available texts because the field has been growing rapidly since 1970. However, the topic remains alive with modern developments, which are closely related to the classical material.

It is evident that no single text can cover the vast scope of classical and modern materials in robotics. Thus the demand for new books arises because the field continues to progress.

Another factor is the trend toward the analytical unification of kinematics, dynamics, and control. Classical kinematics and dynamics of robots have their root s in the work of great scientists of the past four centuries who established the methodology and understanding of the behavior of dynamic systems.

The development of dynamic science, since the beginning of the twentieth century, has moved toward the analysis of controllable man-made systems. Therefore, merging the kinematics and dynamics with control theory is the expected development for robotic analysis.

The other important development is the fast-growing capability of accurate and rapid numerical calculations, along with intelligent computer programming.

Level of Theory of Applied Robotics Kinematics Dynamics and Control

This book has evolved from nearly a decade of research in nonlinear dynamic systems and teaching undergraduate-graduate level courses in robotics.

It is addressed primarily to the last year of undergraduate study and the first-year graduate student in engineering. Hence, it is an intermediate textbook.

This book can even be the first exposure to topics in spatial kinematics and dynamics of mechanical systems. Therefore, it provides both fundamental and advanced topics on the kinematics and dynamics of robots.

The whole book can be covered in two successive courses however, it is possible to jump over some sections and cover the book in one course. The students are required to know the fundamentals of kinematics and dynamics, as well as a basic knowledge of numerical methods. 

The contents of the book have been kept at a fairly theoretical-practical level. Many concepts are deeply explained and their use emphasized, and most of the related theory and formal proofs have been explained.

Throughout the book, a strong emphasis is put on the physical meaning of the concepts introduced. Topics that have been selected are of high interest in the field. An attempt has been made to expose the students to a broad range of topics and approaches. 

Organization of Theory of Applied Robotics Kinematics Dynamics and Control

The text is organized so it can be used for teaching or for self-study. Chapter 1 “Introduction,” contains general preliminaries with a brief review of the historical development and classification of robots.

Part I “Kinematics,” presents the forward and inverse kinematics of robots. Kinematics analysis refers to position, velocity, and acceleration analysis of robots in both joint and base coordinate spaces. It establishes kinematic relations among the end-effecter and the joint variables.

The method of Denavit-Hartenberg for representing body coordinate frames is introduced and utilized for forwarding kinematics analysis.

The concept of modular treatment of robots is well covered to show how we may combine simple links to make the forward kinematics of a complex robot. For inverse kinematics analysis, the idea of decoupling, the inverse matrix method, and the iterative technique is introduced.

It is shown that the presence of a spherical wrist is what we need to apply analytic methods in inverse kinematics. Part II “Dynamics,” presents a detailed discussion of robot dynamics.

An attempt is made to review the basic approaches and demonstrate how these can be adapted for the active displacement framework utilized for robot kinematics in the earlier chapters.

The concepts of the recursive Newton-Euler dynamics, Lagrangian function, manipulator inertia matrix, and generalized forces are introduced and applied for the derivation of dynamic equations of motion.

Part III “Control,” presents the floating time technique for the time-optimal control of robots. The outcome of the technique is applied for an open-loop control algorithm.

Then, a computed-torque method is introduced, in which a combination of feedforward and feedback signals are utilized to render the system error dynamics.

Theory of Applied Robotics Contents



  • Rotation Kinematics
  • Orientation Kinematics
  • Motion Kinematics
  • Forward Kinematics 
  • Inverse Kinematics
  • Angular Velocity
  • Velocity Kinematics
  • Numerical Methods in Kinematics


  • Acceleration Kinematics
  • Motion Dynamics
  • Robot Dynamics


  • Path Planning
  • Time-Optimal Control
  • Control Techniques

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