INTRODUCTION TO ROBOT TECHNOLOGY - Mathematical Modeling

In this book; The mathematical models used for the design, analysis, simulation and control of industrial robots are discussed. Analytical methods applied in modeling serial manipulators defined by open kinematic chains are presented from an engineering point of view. Analytical modeling methods; It is introduced under the headings of geometry, kinematics, static and dynamics, with a systematic approach that is easy to program. Detailed application examples are given for serial manipulator structures commonly encountered in industrial robots.
Book; It has been prepared as a basic resource that can be followed in robotics courses given in undergraduate and graduate programs in engineering departments of universities such as Machinery, Electric-electronics, Mechatronics, Control and Computer. The book can also be considered as a reference resource for engineers and researchers working on robot design, analysis and implementation.