Fundamentals of Robot Kinematics and Dynamics

Robotic systems have transcended their initial industrial applications to become important in different sectors, from healthcare and exploration to manufacturing and everyday living. At the heart of these systems lies the delicate ballet of motion-how robots move, perceive, and interact with their surroundings. This book embarks on a journey to unravel the complexity underlying robot motion, presenting readers with a full understanding of the fundamental concepts that control these marvels of engineering.

"Fundamentals of Robot Kinematics and Dynamics" is precisely constructed to act as a guide, presenting an organized approach to learn the essential principles guiding robot motion. It dives into the mathematical foundations, theorems, and practical applications that shape the movement and behavior of robots. Each chapter is designed to build upon the preceding one, fostering a progressive knowledge of important concepts, from spatial transformations to inverse kinematics, and from dynamic formulations to sophisticated control schemes.