Difference between revisions of "Modern Robotics"

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[[File:ModernRoboticsCover.jpg|right|thumb|x300px|The Cambridge University Press cover.]]
[[File:ModernRoboticsCover.jpg|right|thumb|x300px|The Cambridge University Press cover.]]
This is the home page of the textbook "Modern Robotics: Mechanics, Planning, and Control," Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017, ISBN 9781107156302.
This is the home page of the textbook "Modern Robotics: Mechanics, Planning, and Control," Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017, ISBN 9781107156302. Purchase the hardback through [https://www.amazon.com/gp/product/1107156300/ref=as_li_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=1107156300&linkCode=as2&tag=nu32book-20&linkId=f522685bc8cc019b5e064ce65fb510df '''Amazon''']or through [http://www.cambridge.org/ModernRobotics '''Cambridge University Press'''], or check out the free preprint version below.

If you find this book useful for a course or self-study, please contact Kevin or Frank and let us know!

'''[[Modern_Robotics#Online_Courses | Modern Robotics is now available as online courses on Coursera.]]'''


'''From the foreword:'''
'''From the foreword:'''
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"''Modern Robotics'' imparts the most important insights of robotics ... with a clarity that makes it accessible to undergraduate students." '''Matthew T. Mason''', ''Carnegie Mellon University''
"''Modern Robotics'' imparts the most important insights of robotics ... with a clarity that makes it accessible to undergraduate students." '''Matthew T. Mason''', ''Carnegie Mellon University''


== Book ==
'''Table of Contents:'''


Purchase the hardback through [https://www.amazon.com/gp/product/1107156300/ref=as_li_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=1107156300&linkCode=as2&tag=nu32book-20&linkId=f522685bc8cc019b5e064ce65fb510df '''Amazon''']or through [http://www.cambridge.org/ModernRobotics '''Cambridge University Press'''], or check out the free preprint version below.
1. Preview


This book is the result of course notes developed over many years for the course M2794.0027 Introduction to Robotics at Seoul National University and ME 449 Robotic Manipulation at Northwestern University. The evolving course notes have been posted on the internet for years to support these classes.
2. Configuration Space


The for-purchase version of the book from Cambridge University Press has improved layout and typesetting, updated figures, different pagination (and fewer pages), and more careful copyediting, and it is considered the "official" version of the book. But the online preprint version of the book has the same chapters, sections, and exercises, and it is quite close in content to the Cambridge-published version. The current, and final preprint, online version of the book is dated May 2017. We posted preliminary versions of the book in October and November 2016; those versions should be discarded.
3. Rigid-Body Motions


We are posting four versions of the book. All versions have exactly the same contents and pagination. They differ only in the sizes of the margins and the size of the print, as manipulated in Adobe Acrobat after latex'ing. Two of the versions have working hyperlinks for navigating the book on your computer or tablet.
4. Forward Kinematics


'''With working hyperlinks.''' (To navigate the book using the hyperlinks, click on the hyperlink. To go back where you came from, choose the button or keystroke appropriate to your pdf reader. For example, on the Mac with Acrobat or Acrobat Reader, use cmd-left arrow. With Preview on the Mac, use cmd-[. Some readers on other operating systems use alt-left arrow. You can google to see which solution works for your pdf reader.)
5. Velocity Kinematics and Statics
* [[Media:MR.pdf|Default 8.5x11 or A4 version]]. Printable version with 10 pt font and large margins.
* [[Media:MR-tablet.pdf|Tablet version]]. Margins have been eliminated so that no space is wasted when viewing the document on a computer or tablet.


'''Without working hyperlinks.'''
6. Inverse Kinematics
* [[Media:MR-largefont.pdf|Large font 8.5x11 or A4 version]]. Printable version with 12 pt font equivalent and smaller margins than the 10 pt default version.
* [[Media:MR-2up.pdf|2up version]]. Printable version with 2 book pages per page, for saving paper if you have good eyes. Approximately 8.5 pt font equivalent.


These files have been compressed to about 7 MB. Let us know if you have any problems reading them. Please note that recent versions of the default Mac OS X pdf reader, Preview, are known to have some bugs displaying certain images in pdf files. If a figure is not appearing properly, please try a better pdf viewer, like Acrobat Reader.
7. Kinematics of Closed Chains


'''Table of Contents:'''
8. Dynamics of Open Chains
# Preview
# 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


:Appendix A. Summary of Useful Formulas
9. Trajectory Generation


:Appendix B. Other Representations of Rotations
10. Motion Planning


:Appendix C. Denavit-Hartenberg Parameters
11. Robot Control


:Appendix D. Optimization and Lagrange Multipliers
12. Grasping and Manipulation


'''[[Modern Robotics Linear Algebra Review|Here is a linear algebra refresher appendix to accompany the book.]]'''
13. Wheeled Mobile Robots
<br clear=all>


== Videos ==
Appendix A. Summary of Useful Formulas


* [http://modernrobotics.northwestern.edu '''Click here'''] to watch the video lectures embedded in a convenient viewing environment.
Appendix B. Other Representations of Rotations
* [[Modern Robotics Videos|'''Click here''']] if you prefer to watch the videos within the YouTube environment.


Videos are made with [http://lightboard.info Northwestern's Lightboard]. We have used this tool in the past to make the [http://nu32.org '''mechatronics videos at http://nu32.org'''].
Appendix C. Denavit-Hartenberg Parameters


You can see an excellent collection of robotics videos at the [http://handbookofrobotics.org/ Springer Handbook of Robotics Multimedia Extension]. Also check out the [https://robotacademy.net.au/ Robot Academy at Queensland University of Technology].
Appendix D. Optimization and Lagrange Multipliers


== Solution Manual ==
<br clear=all>


If you are an instructor, you can obtain a copy of the exercise solutions from Cambridge University Press. Go to the "Resources" section of [http://www.cambridge.org/us/academic/subjects/computer-science/computer-graphics-image-processing-and-robotics/modern-robotics-mechanics-planning-and-control '''the Cambridge University Press webpage for the book'''].
== Book ==


== Prerequisites ==
This book is the result of course notes developed over many years for the course M2794.0027 Introduction to Robotics at Seoul National University and ME 449 Robotic Manipulation at Northwestern University. The evolving course notes have been posted on the internet for years to support these classes. The date of the compilation of the book is noted on the front page.


This book was written to be accessible to engineering students after taking typical first-year engineering courses. The student should have an understanding of:
The current, and final preprint, version of the book is dated November 2016. We posted a "beta" version of the book in early October 2016; that version should no longer be used. Since the October version we have implemented a number of corrections, clarifications, minor restructuring, and expanded coverage of certain topics. We also gratefully acknowledge the forewords provided by Roger Brockett and Matt Mason.
* freshman-level physics, including f = ma; free-body diagrams with masses, springs, and dampers; vector forces; and vector torques (or moments) as the cross product of a distance vector and a force;
* linear algebra, including matrix operations, positive definiteness of a matrix, determinants, complex numbers, eigenvalues, and eigenvectors;
* some calculus, derivatives, and partial derivatives; and
* basic linear ordinary differential equations.


The student should also be prepared to program, but only basic programming skills are needed. Code is provided in python (freely available), MATLAB (for purchase, or you could use the freely available GNU Octave clone), and Mathematica (for purchase), so those languages are preferred.
We are posting four versions of the book. All versions have exactly the same contents and pagination. They differ only in the sizes of the margins and the size of the print, as manipulated after latex'ing in Adobe Acrobat. Two of the versions have working hyperlinks for navigating the book on your computer or tablet.

'''With working hyperlinks.''' (To navigate the book using the hyperlinks, click on the hyperlink. To go back where you came from, choose the button or keystroke appropriate to your pdf reader. For example, on the Mac with Acrobat or Acrobat Reader, use cmd-left arrow. With Preview on the Mac, use cmd-[. Some readers on other operating systems use alt-left arrow. You can google to see which solution works for your pdf reader.)
* [[Media:MR.pdf|Default 8.5x11 or A4 version]]. Printable version with 10 pt font and large margins.
* [[Media:MR-tablet.pdf|Tablet version]]. Margins have been eliminated so that no space is wasted when viewing the document on a computer or tablet.

'''Without working hyperlinks.'''
* [[Media:MR-largefont.pdf|Large font 8.5x11 or A4 version]]. Printable version with 12 pt font equivalent and smaller margins than the 10 pt default version.
* [[Media:MR-2up.pdf|2up version]]. Printable version with 2 book pages per page, for saving paper if you have good eyes. Approximately 8.5 pt font equivalent.

These files have been compressed to about 7 MB. Let us know if you have any problems reading them. Please note that recent versions of the default Mac OS X pdf reader, Preview, is known to have some bugs displaying certain images in pdf files. If a figure is not appearing properly, please try a better pdf viewer, like Acrobat Reader.


== Errata ==
== Errata ==
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'''[[Modern Robotics Errata]]'''
'''[[Modern Robotics Errata]]'''


We welcome your comments and corrections! [https://docs.google.com/forms/d/1iZ_3LsWR1iuPJmRsUQsa2ehZj6p-qKQfx8NRKaTlIuE/edit '''Please click here to report any corrections for the book. (Please make sure you are using the November 29, 2016, version of the book.)''']
We welcome your comments and corrections! [https://docs.google.com/forms/d/1iZ_3LsWR1iuPJmRsUQsa2ehZj6p-qKQfx8NRKaTlIuE/edit '''Please click here to report any corrections for the book. (Please make sure you are using the print version of the book or the May 3, 2017, online version of the book.)''']


== Software ==
== Software ==
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The software accompanying the book is written in Mathematica, MATLAB, and Python. It is written to be educational and to reinforce the concepts in the book, not to be as computationally efficient or robust as possible.
The software accompanying the book is written in Mathematica, MATLAB, and Python. It is written to be educational and to reinforce the concepts in the book, not to be as computationally efficient or robust as possible.


The origin of the software is student solutions to homework exercises. In September 2016, Northwestern MS student Mikhail Todes produced the first version of the software for distribution. The software will be updated as bugs are discovered and fixed. As of October 2016, the software distribution should be considered a beta version. A major revision will be coming in January 2017.
The origin of the software is student solutions to homework exercises. A major update was committed in January 2017, correcting some bugs in the earlier version.


[https://github.com/NxRLab/ModernRobotics/issues '''To report any issues with the software, please click the "Issues" tab in GitHub.''']
[https://github.com/NxRLab/ModernRobotics/issues '''To report any issues with the software, please click the "Issues" tab in GitHub.''']

You might also be interested in [http://petercorke.com/Robotics_Toolbox.html Peter Corke's excellent Robotics Toolbox for MATLAB] and other robotics software linked to from his site.


== Simulation ==
== Simulation ==
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[[image:youbot.jpg|right]]
[[image:youbot.jpg|right]]


We have found [http://www.coppeliarobotics.com/ the V-REP robot simulation environment] to be a valuable learning tool accompanying the book. It is free for educational use and cross platform. In ME 449 at Northwestern, we use it to experiment with the kinematics of different robots and to animate solutions to inverse kinematics, dynamic simulations, and controllers. [[V-REP_Introduction|This page]] provides "scenes" that allow you to interactively explore the kinematics of different robots (e.g., the Universal Robots UR5 6R robot arm and the KUKA youBot mobile manipulator) and to animate trajectories that are the results of exercises in chapters on kinematics, dynamics, and control.
We have found [http://www.coppeliarobotics.com/ '''the V-REP robot simulation environment'''] to be a valuable learning tool accompanying the book. It is free for educational use and cross platform. In ME 449 at Northwestern, we use it to experiment with the kinematics of different robots and to animate solutions to inverse kinematics, dynamic simulations, and controllers.

[[Getting_Started_with_the_V-REP_Simulator|'''This page''']] gets you started with V-REP quickly.

[[V-REP_Introduction|'''This page''']] provides "scenes" that allow you to interactively explore the kinematics of different robots (e.g., the Universal Robots UR5 6R robot arm and the KUKA youBot mobile manipulator) and to animate trajectories that are the results of exercises in chapters on kinematics, dynamics, and control.


* [[Media:UR5-IK-720p.mov|A video of a UR5 trajectory created by solving numerical inverse kinematics (Chapter 6, Inverse Kinematics)]]
* [[Media:UR5-IK-720p.mov|A video of a UR5 trajectory created by solving numerical inverse kinematics (Chapter 6, Inverse Kinematics)]]
Line 93: Line 112:


<br clear=all>
<br clear=all>
<!-- == Videos ==
[https://youtu.be/ftOle31x9NM '''Welcome to Modern Robotics!''' (2:00)]


Videos supporting the book will be posted to YouTube and linked to from this wiki. [https://youtu.be/PCeP30q795g '''Here is a sample video.'''] Others will be posted in August 2017.
== Videos ==

[https://youtu.be/ftOle31x9NM '''Welcome to Modern Robotics!''' (2:00)]


Sometime early in 2017, more videos supporting the book will be posted to YouTube and linked to from this wiki. The videos will be made with [http://lightboard.info Northwestern's Lightboard]. If you are interested to learn more about what these videos might look like, you can check out the [http://nu32.org '''mechatronics videos at http://nu32.org'''].
Videos are made with [http://lightboard.info Northwestern's Lightboard]. We have used this tool in the past to make the [http://nu32.org '''mechatronics videos at http://nu32.org'''].


You can see an excellent collection of robotics videos at the [http://handbookofrobotics.org/ Springer Handbook of Robotics Multimedia Extension].
You can see an excellent collection of robotics videos at the [http://handbookofrobotics.org/ Springer Handbook of Robotics Multimedia Extension].
-->

== Online Courses ==

Modern Robotics is now available as a MOOC (massive open online course) Specialization on Coursera!

'''[https://www.coursera.org/specializations/modernrobotics This is a link to the Specialization home page.]''' The Specialization consists of six short courses, each expected to take approximately four weeks of approximately five hours of effort per week:
* [https://www.coursera.org/learn/modernrobotics-course1 Course 1: Foundations of Robot Motion (Chapters 2 and 3)]
* [https://www.coursera.org/learn/modernrobotics-course2 Course 2: Robot Kinematics (Chapters 4, 5, 6, and 7)]
* [https://www.coursera.org/learn/modernrobotics-course3 Course 3: Robot Dynamics (Chapters 8 and 9)]
* [https://www.coursera.org/learn/modernrobotics-course4 Course 4: Robot Motion Planning and Control (Chapters 10 and 11)]
* [https://www.coursera.org/learn/modernrobotics-course5 Course 5: Robot Manipulation and Wheeled Mobile Robots (Chapters 12 and 13)]
* [https://www.coursera.org/learn/modernrobotics-course6 Course 6: Capstone Project, Mobile Manipulation]

'''[[Coursera Resources|This page collects together some of the supplemental material used in the Coursera MOOCs]]'''.


== Supplemental Information ==
== Supplemental Information ==


* UR5 parameters you can use for dynamic simulations (note: the values are not exact, and do not account for the effect of gearing at the joints)
** [[Media:UR5-parameters.nb|UR5 parameters in a Mathematica notebook]]
** [[Media:UR5-parameters.m|UR5 parameters in MATLAB]]
** [[Media:UR5-parameters-py.txt|UR5 parameters in Python]]
* The UR5 URDF file from Chapter 4 of the book ([[Media:UR5-URDF.pdf|.pdf format]] or [[Media:UR5-URDF.txt|.txt format]]). For learning purposes only, not actual use; it contains only kinematic and inertial properties, and does not fully account for the effects of gearing. This file is based on the [https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_description/urdf/ur5.urdf.xacro UR5 URDF from the ROS-Industrial team].
* The UR5 URDF file from Chapter 4 of the book ([[Media:UR5-URDF.pdf|.pdf format]] or [[Media:UR5-URDF.txt|.txt format]]). For learning purposes only, not actual use; it contains only kinematic and inertial properties, and does not fully account for the effects of gearing. This file is based on the [https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_description/urdf/ur5.urdf.xacro UR5 URDF from the ROS-Industrial team].
* [http://petercorke.com/Robotics_Toolbox.html Peter Corke's excellent Robotics Toolbox for MATLAB] and other robotics software linked to from his site.
* [https://github.com/quangounet/TOPP Open-source software for time-optimal time scaling (Chapter 9.4), courtesy of Quang-Cuong Pham].
* [https://github.com/quangounet/TOPP Open-source software for time-optimal time scaling (Chapter 9.4), courtesy of Quang-Cuong Pham].


Line 113: Line 152:
'''Kevin M. Lynch''' is Professor and Chair of the Mechanical Engineering Department at Northwestern University. He is a member of the [http://nxr.northwestern.edu Neuroscience and Robotics Lab] and the [http://nico.northwestern.edu Northwestern Institute on Complex Systems]. His research focuses on dynamics, motion planning, and control for robot manipulation and locomotion; self-organizing multi-agent systems; and physically interacting human-robot systems.
'''Kevin M. Lynch''' is Professor and Chair of the Mechanical Engineering Department at Northwestern University. He is a member of the [http://nxr.northwestern.edu Neuroscience and Robotics Lab] and the [http://nico.northwestern.edu Northwestern Institute on Complex Systems]. His research focuses on dynamics, motion planning, and control for robot manipulation and locomotion; self-organizing multi-agent systems; and physically interacting human-robot systems.


He is a Senior Editor of the IEEE Robotics and Automation Letters, former Senior Editor of the IEEE Transactions on Robotics and IEEE Transactions on Automation Science and Engineering, and incoming Editor-in-Chief of the IEEE International Conference on Robotics and Automation. He is a co-author of [https://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275 ''The Principles of Robot Motion''] (MIT Press, 2005) and [http://nu32.org ''Embedded Computing and Mechatronics with the PIC32 Microcontroller''] (Elsevier, 2015), an IEEE fellow, and the recipient of the IEEE Early Career Award in Robotics and Automation, Northwestern's Professorship of Teaching Excellence, and the Northwestern Teacher of the Year award in engineering. He earned a BSE in Electrical Engineering from Princeton University and a PhD in Robotics from Carnegie Mellon University.
He is Editor-in-Chief of the IEEE Transactions on Robotics, former Editor-in-Chief of the IEEE International Conference on Robotics and Automation Conference Editorial Board, and a former Editor of the IEEE Transactions on Robotics, the IEEE Robotics and Automation Letters, and the IEEE Transactions on Automation Science and Engineering. He is a co-author of [https://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275 ''The Principles of Robot Motion''] (MIT Press, 2005) and [http://nu32.org ''Embedded Computing and Mechatronics with the PIC32 Microcontroller''] (Elsevier, 2015), an IEEE fellow, and the recipient of the IEEE Early Career Award in Robotics and Automation, Northwestern's Professorship of Teaching Excellence, and the Northwestern Teacher of the Year award in engineering. He earned a BSE in Electrical Engineering from Princeton University and a PhD in Robotics from Carnegie Mellon University.


<br clear=all>
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[[image:frank-park-headshot.jpg|right]]
[[image:frank-park-headshot.jpg|right]]


'''Frank C. Park''' received his BS in electrical engineering from MIT and his PhD in applied mathematics from Harvard University. From 1991 to 1995 he was assistant professor of mechanical and aerospace engineering at the University of California, Irvine. Since 1995 he has been professor of mechanical and aerospace engineering at Seoul National University. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an IEEE Robotics and Automation Society Distinguished Lecturer, and received best paper awards for his work on visual tracking and parallel robot design. He has served on the editorial boards of the Springer Handbook of Robotics, Springer Advanced Tracts in Robotics (STAR), Robotica, and the ASME Journal of Mechanisms and Robotics. He has held adjunct faculty positions at the NYU Courant Institute and the Interactive Computing Department at Georgia Tech. He is a fellow of the IEEE, current editor-in-chief of the IEEE Transactions on Robotics, and developer of the edX course Robot Mechanics and Control I, II.
'''Frank C. Park''' received his BS in electrical engineering from MIT and his PhD in applied mathematics from Harvard University. From 1991 to 1995 he was assistant professor of mechanical and aerospace engineering at the University of California, Irvine. Since 1995 he has been professor of mechanical and aerospace engineering at Seoul National University, where he is currently chair of the department. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an IEEE Robotics and Automation Society Distinguished Lecturer, and received best paper awards for his work on visual tracking and parallel robot design. He has served on the editorial boards of the Springer Handbook of Robotics, Springer Advanced Tracts in Robotics (STAR), Robotica, and the ASME Journal of Mechanisms and Robotics. He has held adjunct faculty positions at the NYU Courant Institute and the Interactive Computing Department at Georgia Tech. He is a fellow of the IEEE, former Editor-in-Chief of the IEEE Transactions on Robotics, and developer of the edX course Robot Mechanics and Control I, II.
<br clear=all>
<br clear=all>


=== Why LynchAndPark.org? ===
=== Why LynchAndPark.org? ===


[[File:ModernRoboticsFlyer.jpg|right|thumb|x300px|Advertising flyer for the book, with discount code.]]
[[File:ModernRoboticsFlyer.jpg|right|thumb|x300px|Advertising flyer for the book.]]
You may have gotten here from the URL http://lynchandpark.org. If you're like us, you forget the name of the textbook, but remember the names of the authors. We thought it would be easiest to remember this URL. If you ever have any problems with http://lynchandpark.org, you can try http://www.lynchandpark.org , http://modernrobotics.org, or http://www.modernrobotics.org.
You may have gotten here from the URL http://lynchandpark.org. If you're like us, you forget the name of the textbook, but remember the names of the authors. We thought it would be easiest to remember this URL. If you ever have any problems with http://lynchandpark.org, you can try http://www.lynchandpark.org , http://modernrobotics.org, or http://www.modernrobotics.org.

<br clear=all>

== Mechatronics ==

[[Image:NU32_Book_Cover.jpg|x200px |right | link=NU32]]

<!--
[[File:NU32_Book_Cover.jpg|x200px|thumb|right|''Embedded Computing and Mechatronics,'' Lynch Marchuk, and Elwin, Elsevier 2015.]]
-->
''Modern Robotics'' is written at the system level: you learn about the kinematics, dynamics, motion planning, and control of an entire robot system. If you would like to learn more about the details of implementation, e.g., joint-level feedback control, driving motors (including brushed, brushless, steppers, and servos), gearing, sensors, signal processing, etc., check out [[NU32|''Embedded Computing and Mechatronics'']] by Lynch, Marchuk, and Elwin, Elsevier 2015.

Revision as of 05:42, 17 October 2018

The Cambridge University Press cover.

This is the home page of the textbook "Modern Robotics: Mechanics, Planning, and Control," Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017, ISBN 9781107156302. Purchase the hardback through Amazonor through Cambridge University Press, or check out the free preprint version below.

If you find this book useful for a course or self-study, please contact Kevin or Frank and let us know!

Modern Robotics is now available as online courses on Coursera.

From the foreword:

"Frank and Kevin have provided a wonderfully clear and patient explanation of their subject." Roger Brockett, Harvard University

"Modern Robotics imparts the most important insights of robotics ... with a clarity that makes it accessible to undergraduate students." Matthew T. Mason, Carnegie Mellon University

Book

Purchase the hardback through Amazonor through Cambridge University Press, or check out the free preprint version below.

This book is the result of course notes developed over many years for the course M2794.0027 Introduction to Robotics at Seoul National University and ME 449 Robotic Manipulation at Northwestern University. The evolving course notes have been posted on the internet for years to support these classes.

The for-purchase version of the book from Cambridge University Press has improved layout and typesetting, updated figures, different pagination (and fewer pages), and more careful copyediting, and it is considered the "official" version of the book. But the online preprint version of the book has the same chapters, sections, and exercises, and it is quite close in content to the Cambridge-published version. The current, and final preprint, online version of the book is dated May 2017. We posted preliminary versions of the book in October and November 2016; those versions should be discarded.

We are posting four versions of the book. All versions have exactly the same contents and pagination. They differ only in the sizes of the margins and the size of the print, as manipulated in Adobe Acrobat after latex'ing. Two of the versions have working hyperlinks for navigating the book on your computer or tablet.

With working hyperlinks. (To navigate the book using the hyperlinks, click on the hyperlink. To go back where you came from, choose the button or keystroke appropriate to your pdf reader. For example, on the Mac with Acrobat or Acrobat Reader, use cmd-left arrow. With Preview on the Mac, use cmd-[. Some readers on other operating systems use alt-left arrow. You can google to see which solution works for your pdf reader.)

Without working hyperlinks.

  • Large font 8.5x11 or A4 version. Printable version with 12 pt font equivalent and smaller margins than the 10 pt default version.
  • 2up version. Printable version with 2 book pages per page, for saving paper if you have good eyes. Approximately 8.5 pt font equivalent.

These files have been compressed to about 7 MB. Let us know if you have any problems reading them. Please note that recent versions of the default Mac OS X pdf reader, Preview, are known to have some bugs displaying certain images in pdf files. If a figure is not appearing properly, please try a better pdf viewer, like Acrobat Reader.

Table of Contents:

  1. Preview
  2. Configuration Space
  3. Rigid-Body Motions
  4. Forward Kinematics
  5. Velocity Kinematics and Statics
  6. Inverse Kinematics
  7. Kinematics of Closed Chains
  8. Dynamics of Open Chains
  9. Trajectory Generation
  10. Motion Planning
  11. Robot Control
  12. Grasping and Manipulation
  13. Wheeled Mobile Robots
Appendix A. Summary of Useful Formulas
Appendix B. Other Representations of Rotations
Appendix C. Denavit-Hartenberg Parameters
Appendix D. Optimization and Lagrange Multipliers

Here is a linear algebra refresher appendix to accompany the book.

Videos

  • Click here to watch the video lectures embedded in a convenient viewing environment.
  • Click here if you prefer to watch the videos within the YouTube environment.

Videos are made with Northwestern's Lightboard. We have used this tool in the past to make the mechatronics videos at http://nu32.org.

You can see an excellent collection of robotics videos at the Springer Handbook of Robotics Multimedia Extension. Also check out the Robot Academy at Queensland University of Technology.

Solution Manual

If you are an instructor, you can obtain a copy of the exercise solutions from Cambridge University Press. Go to the "Resources" section of the Cambridge University Press webpage for the book.

Prerequisites

This book was written to be accessible to engineering students after taking typical first-year engineering courses. The student should have an understanding of:

  • freshman-level physics, including f = ma; free-body diagrams with masses, springs, and dampers; vector forces; and vector torques (or moments) as the cross product of a distance vector and a force;
  • linear algebra, including matrix operations, positive definiteness of a matrix, determinants, complex numbers, eigenvalues, and eigenvectors;
  • some calculus, derivatives, and partial derivatives; and
  • basic linear ordinary differential equations.

The student should also be prepared to program, but only basic programming skills are needed. Code is provided in python (freely available), MATLAB (for purchase, or you could use the freely available GNU Octave clone), and Mathematica (for purchase), so those languages are preferred.

Errata

Modern Robotics Errata

We welcome your comments and corrections! Please click here to report any corrections for the book. (Please make sure you are using the print version of the book or the May 3, 2017, online version of the book.)

Software

Download the book software from GitHub.

The software accompanying the book is written in Mathematica, MATLAB, and Python. It is written to be educational and to reinforce the concepts in the book, not to be as computationally efficient or robust as possible.

The origin of the software is student solutions to homework exercises. A major update was committed in January 2017, correcting some bugs in the earlier version.

To report any issues with the software, please click the "Issues" tab in GitHub.

Simulation

Youbot.jpg

We have found the V-REP robot simulation environment to be a valuable learning tool accompanying the book. It is free for educational use and cross platform. In ME 449 at Northwestern, we use it to experiment with the kinematics of different robots and to animate solutions to inverse kinematics, dynamic simulations, and controllers.

This page gets you started with V-REP quickly.

This page provides "scenes" that allow you to interactively explore the kinematics of different robots (e.g., the Universal Robots UR5 6R robot arm and the KUKA youBot mobile manipulator) and to animate trajectories that are the results of exercises in chapters on kinematics, dynamics, and control.


Online Courses

Modern Robotics is now available as a MOOC (massive open online course) Specialization on Coursera!

This is a link to the Specialization home page. The Specialization consists of six short courses, each expected to take approximately four weeks of approximately five hours of effort per week:

This page collects together some of the supplemental material used in the Coursera MOOCs.

Supplemental Information

About the Authors

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Kevin M. Lynch is Professor and Chair of the Mechanical Engineering Department at Northwestern University. He is a member of the Neuroscience and Robotics Lab and the Northwestern Institute on Complex Systems. His research focuses on dynamics, motion planning, and control for robot manipulation and locomotion; self-organizing multi-agent systems; and physically interacting human-robot systems.

He is Editor-in-Chief of the IEEE Transactions on Robotics, former Editor-in-Chief of the IEEE International Conference on Robotics and Automation Conference Editorial Board, and a former Editor of the IEEE Transactions on Robotics, the IEEE Robotics and Automation Letters, and the IEEE Transactions on Automation Science and Engineering. He is a co-author of The Principles of Robot Motion (MIT Press, 2005) and Embedded Computing and Mechatronics with the PIC32 Microcontroller (Elsevier, 2015), an IEEE fellow, and the recipient of the IEEE Early Career Award in Robotics and Automation, Northwestern's Professorship of Teaching Excellence, and the Northwestern Teacher of the Year award in engineering. He earned a BSE in Electrical Engineering from Princeton University and a PhD in Robotics from Carnegie Mellon University.


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Frank C. Park received his BS in electrical engineering from MIT and his PhD in applied mathematics from Harvard University. From 1991 to 1995 he was assistant professor of mechanical and aerospace engineering at the University of California, Irvine. Since 1995 he has been professor of mechanical and aerospace engineering at Seoul National University, where he is currently chair of the department. His research interests are in robot mechanics, planning and control, vision and image processing, and related areas of applied mathematics. He has been an IEEE Robotics and Automation Society Distinguished Lecturer, and received best paper awards for his work on visual tracking and parallel robot design. He has served on the editorial boards of the Springer Handbook of Robotics, Springer Advanced Tracts in Robotics (STAR), Robotica, and the ASME Journal of Mechanisms and Robotics. He has held adjunct faculty positions at the NYU Courant Institute and the Interactive Computing Department at Georgia Tech. He is a fellow of the IEEE, former Editor-in-Chief of the IEEE Transactions on Robotics, and developer of the edX course Robot Mechanics and Control I, II.

Why LynchAndPark.org?

Advertising flyer for the book.

You may have gotten here from the URL http://lynchandpark.org. If you're like us, you forget the name of the textbook, but remember the names of the authors. We thought it would be easiest to remember this URL. If you ever have any problems with http://lynchandpark.org, you can try http://www.lynchandpark.org , http://modernrobotics.org, or http://www.modernrobotics.org.


Mechatronics

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Modern Robotics is written at the system level: you learn about the kinematics, dynamics, motion planning, and control of an entire robot system. If you would like to learn more about the details of implementation, e.g., joint-level feedback control, driving motors (including brushed, brushless, steppers, and servos), gearing, sensors, signal processing, etc., check out Embedded Computing and Mechatronics by Lynch, Marchuk, and Elwin, Elsevier 2015.