[robotics-worldwide] [news] undergrad textbook "Modern Robotics" by Lynch and Park available online

Kevin Lynch kmlynch at northwestern.edu
Sun Oct 9 09:01:33 PDT 2016


Dear friends and colleagues,

Our new textbook, "Introduction to Modern Robotics:  Mechanics, Planning,
and Control," Kevin M. Lynch and Frank C. Park, is available online at

https://urldefense.proofpoint.com/v2/url?u=http-3A__lynchandpark.org&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=_TMUTiri9svrb-jbuG52xDyxemb5qyHL763bsk_rAnE&e= 

This book is the result of the evolving course notes for ME 449 Robotic
Manipulation at Northwestern University and M2794.0027 Introduction to
Robotics at Seoul National University.

Chapters include:

  * 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

Geometric methods are used throughout, including the product of
exponentials formula for robot kinematics.  The book is intended for a
first course in robotics, accessible to undergraduates with only
freshman-level physics, ordinary differential equations, linear algebra,
and a bit of computing background.

Also at https://urldefense.proofpoint.com/v2/url?u=http-3A__lynchandpark.org&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=_TMUTiri9svrb-jbuG52xDyxemb5qyHL763bsk_rAnE&e=  is student-written software supporting a
number of the chapters, to solidify the concepts taught in the book.
Coming soon to the website are video lecture supplements to support the
chapters.  These are intended for self-study of the book, or to help
instructors flip the classroom.  Students in a flipped class watch the
videos at their own pace, rewinding and rewatching as needed.  This
increases the value of the time the instructor spends in the classroom,
allowing more personalized and flexible lessons addressing concepts that
need reinforcing as students apply the concepts to exercises or projects.

If you are interested to see how the videos will be made, check out the
book's welcome video at

https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3DftOle31x9NM-26feature-3Dyoutu.be&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=nthHpJ4Jc6hzrUATBzyUtM2STIx0QQlEllJNFV2GAwU&e= 

the video introducing the Lightboard (videos are created with the
Lightboard)

https://urldefense.proofpoint.com/v2/url?u=http-3A__lighboard.info&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=jEMUqZH9SE3U4KTKB5P-W_ECM1Hp_tFg3Z7e6mVF7p4&e= 

or the mechatronics and microcontroller videos made using the same
technology

https://urldefense.proofpoint.com/v2/url?u=http-3A__nu32.org&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=JMAoNOq4E9hITkob6qbHMWSQB5GMS-orqlsCnQYtxP4&e= 

We welcome your feedback!  Comments can be sent through
https://urldefense.proofpoint.com/v2/url?u=http-3A__lynchandpark.org&d=DQIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=7R0rqsWTKV4oKogiehUlSUq_cEfg0AnA-vW-PGU01vk&s=_TMUTiri9svrb-jbuG52xDyxemb5qyHL763bsk_rAnE&e= .

Kevin Lynch, Northwestern University
Frank Park, Seoul National University


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