Foundation of Robotics: Analysis and Control

 

Foundation of #Robotics: Analysis and Control by Tsuneo Yoshikawa is one of the best books on robotics that I own. There are many layers of cyber-physical system control. In the field of AI, planning and problem solving might be as complex as machine learning classification systems. An autonomous system, however, will be interacting with position, force, and stability controllers.

I was particularly interested in the #Lagrangian #Dynamics Equations for a serial two-joint manipulation. The mathematical treatment presented by the author was excellent. The notation is somewhat complex, and many other texts are less detailed in deriving the motion equations. For designing cyber-physical systems, e.g., n-link manipulator controller or simulator, it is essential to use a precise notation that can capture many characteristics that constitute the model. We are talking about such concepts as centrifugal accelerations, effective #inertia, or #Coriolis acceleration. Also, I had a chance to implement the Newton-Euler formalisms used by the author to describe n-link manipulators and inverse dynamics problems when solving computational load problems. 

#inversedynamics #newtoneuler #cyberphysicalsystems #nlinkmanipulator #AI #planningsystems