Robotics: From Theory to Practice

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Chao Chen (Monash University) Wesley Au (Department of Mechanical and Aerospace Engineering, Monash University)

Robotics

From Theory to Practice

Chao Chen (Monash University), Wesley Au (Department of Mechanical and Aerospace Engineering, Monash University), Shao Liu

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English

CRC Press
30 June 2025

Primary industries; Robotics; Artificial intelligence

Robotics: From Theory to Practice introduces robotic theories and technologies to audiences, including university students, professionals with engineering backgrounds, and even high-school students interested in building their own robots. We aim to bridge the gap between classic theories and real-world applications of robotic manipulators, which, to date, have far exceeded the domain of conventional industry.

The contents are divided into three parts. The first two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part I is an introduction targeting junior students, featuring more simplistic topics and examples. Part II provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part III, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries.

This textbook is valuable to broad readers, including those who have limited background in general engineering and wish to explore non-conventional applications of robotic manipulators. The scaffolded contents from Part I to Part III are created to lower the prerequisites and smooth the learning curve.

By: Chao Chen (Monash University), Wesley Au (Department of Mechanical and Aerospace Engineering, Monash University), Shao Liu
Imprint: CRC Press
Country of Publication: United Kingdom
Dimensions: Height: 254mm, Width: 178mm,
ISBN: 9781041013235
ISBN 10: 104101323X
Pages: 438
Publication Date: 30 June 2025
Audience: College/higher education , Professional and scholarly , Primary , Undergraduate
Format: Paperback
Publisher's Status: Forthcoming

Contents Dedications Preface Glossary I. Basics of Robotics 1. Introduction 2. Planar Kinetics, Velocity, And Statics 3. Trajectory Generation 4. Control Schemes II. Key Topics 5. General Rotations and Transformations 6. Forward Kinematics 7. Inverse Kinematics 8. Jacobian Analysis 9. Path Planning 10. Programming 11. Lagrangian Dynamics 12. Newton-Euler Dynamics 13. Joint Control 14. Computed Torque Control 15. Force Control III. Advanced Analysis and Case Studies 16. Mobility Analysis 17. Orientation Workspace 18. Constraint Analysis for Underactuated Systems 19. Concentric Tube Robot 20. Path Planning of Parallel Manipulators 21. Minimally-Invasive Surgical Robot with Remote Centre of Motion 22. MARS: The Monash Apple Retrieving System IV. Appendix 23. Appendices for Chapter 5 24. Appendices for Chapter 8 25. Appendices for Chapter 11 Index

Chao Chen is the Director of the Laboratory of Motion Generation and Analysis (LMGA), the Academic Supervisor of the Monash Nova Rover Team, and was the Course Director of Robotics and Mechatronics in the Department of Mechanical and Aerospace Engineering at Monash University. His research in robotics was well recognised by a number of awards including Excellence Award of Project of Year 2023 for his harvesting robot by Engineers Australia (Victoria). Wesley Au is a robotics and automation research engineer at Boeing Research and Technology Australia, designing advanced production systems for the automation of precise and high-rate manufacturing in the aerospace industry. He has a strong background in robotics, especially in intelligent path planning within complex and dynamic workspaces. Shao Liu is a research fellow in the LMGA at Monash University. He has extensive expertise in robotic design, modelling, and analysis, and has conducted a number of research projects and industry projects in medical robots, manufacturing robots, and special-purpose robots.