Welcome to the official repository for "Fundamentals of Robotics: Practical Case Studies with Matlab & Python" by Hamid D. Taghirad. This repository contains all the source codes in MATLAB and Python presented in the book, offering a hands-on approach to learning the fundamentals of robotics.
"Fundamentals of Robotics" is an essential resource for anyone interested in understanding the core concepts of robotics. This book combines rigorous theoretical foundations with practical applications, making it suitable for students, researchers, and practitioners alike.
- Comprehensive Coverage: The book covers essential topics including kinematics, motion description, jacobian matrices, singularities, and dexterity measures.
- Case Studies: Practical case studies are provided to illustrate the application of theoretical concepts in real-world scenarios.
- MATLAB & Python: All examples are implemented in both MATLAB and Python, catering to a wide range of programming preferences.
- Illustrative Examples: Detailed examples help in visualizing complex concepts and enhance understanding.
- Exercises and Problems: Each chapter includes exercises and problems to test the reader's understanding and application of the material.
- Introduction - Overview of robotics and its applications.
- Motion Description - Fundamental concepts of motion in robotics, including rotation matrices, Euler angles, and homogeneous transformations.
- Advanced Representations - Detailed exploration of screw theory, quaternion representations, and linear/angular velocities.
- Forward Kinematics - Methods for determining the position and orientation of robot end-effectors.
- Inverse Kinematics - Techniques for computing the joint parameters that achieve a desired end-effector position.
- Jacobian Matrix - Analysis of the relationship between joint velocities and end-effector velocities.
- Singularity and Dexterity - Examination of robot configurations that lead to singularities and their implications.
- Dynamics Analysis - Comprehensive study of robot dynamics, including the formulation of dynamic equations.
- Properties and Formulations in Dynamics - Exploration of dynamic properties and their mathematical formulations.
- Simulation and Calibration - Methods for simulating robot dynamics and calibrating models to match real-world data.
- Linear Motion Control - Design and implementation of linear controllers for robot motion control.
- Nonlinear Motion Control - Advanced nonlinear control strategies for robotics.
- Force Control - Techniques for controlling the force exerted by robots during interaction with their environment.
- Impedance Control - Methods for managing the dynamic interaction between robots and their surroundings through impedance control.
- Theoretical Concepts: Each chapter delves into specific aspects of robotics, providing thorough theoretical foundations.
- Practical Case Studies: Application of concepts through detailed case studies on various industrial robots.
- MATLAB and Python: Implementation of examples and exercises using MATLAB and Python, enhancing practical learning.
- Comprehensive Coverage: From basic introductions to advanced control methods, the book covers a wide range of topics essential for robotics.
This repository contains the MATLAB and Python code implementations discussed in the book. Each chapter's code is organized systematically for ease of use and reference. The code helps in reinforcing the theoretical concepts by providing practical examples and solutions.
We welcome contributions! If you're interested in enhancing this repository:
- Fork the repository.
- Create a new branch (
feature/your_featureorbugfix/your_bugfix). - Implement your changes.
- Commit and push to your branch.
- Submit a pull request.
Encountered an issue or have a question? Open an issue on our GitHub repository.
- Fundamentals of Robotics - GitHub Repository
- For further reading, refer to Robotics GitHub Repository for more resources and materials on robotics.
Readers are encouraged to report any issues or provide feedback to hamid@cim.mcgill.ca. Your input is valuable and will help improve future editions of the book.
For any questions or suggestions, feel free to open an issue or contact the repository maintainer at hamid@cim.mcgill.ca.
This project is licensed under the MIT License. See the LICENSE file for more details.
Happy Coding! 🎉