Robotics Mechanisms and Embedded Control
Principles, Planning and Design for Automation, Microcontrollers and Intelligent SystemsBy Tomas Belmonte
Length15h 11m
About this audiobook
A practical guide that unites robot mechanics and embedded control, from kinematics and drive sizing to PID loops and motion planning, with solved examples throughout.
Audiobook details
GenreTechnology
Length15 hrs 11 mins
Narrated byListen with 1,000+ voices
FormateBook with Audio
Publish dateSep 27, 2026
LanguageEnglish
Table of contents
1Robotics Mechanisms and Embedded Control
2Foreword
3Preface
4About This Book
5Important Safety Notice
Show all chaptersShow less
6Chapter 1: Rigid-Body Motion
71.1 Frames, Coordinates and the Pose of a Rigid Body
81.2 Rotation Matrices and Elementary Rotations
91.3 Composition, Euler Angles and Axis-Angle Representation
101.4 Homogeneous Transforms and Frame Chains
111.5 Twists, Screw Axes and Exponential Coordinates
121.6 Angular Velocity, Differentiation and the Transport Theorem
13Chapter 2: Mechanisms and Linkages
142.1 Links, Joints and Degrees of Freedom
152.2 Four-Bar Geometry and the Grashof Criterion
162.3 Slider-Crank and Scotch Yoke Mechanisms
172.4 Cam Profiles and Follower Motion
182.5 Gear Trains, Ratios and Backlash
19Chapter 3: Power Transmission and Drive Sizing
203.1 Belts, Chains and Rack-and-Pinion Drives
213.2 Ball Screws and Lead Screw Mechanics
223.3 Harmonic and Cycloidal Drives
233.4 Reflected Inertia and Gear-Ratio Matching
243.5 Torque, Speed and Duty-Cycle Sizing
25Chapter 4: Forward Kinematics
264.1 Kinematic Chains and Joint Variables
274.2 Denavit-Hartenberg Parameters
284.3 The Product-of-Exponentials Formula
294.4 Workspace, Reach and Dexterous Envelope
30Chapter 5: Inverse Kinematics
315.1 Existence, Multiple Solutions and Branch Selection
325.2 Closed-Form Solution by Geometric Decoupling
335.3 Numerical Inverse Kinematics by Jacobian Iteration
345.4 Workspace Limits and Joint-Limit Handling
35Chapter 6: Velocity, Statics and the Jacobian
366.1 The Jacobian Matrix and Velocity Propagation
376.2 Singularities and Manipulability
386.3 Static Forces and the Jacobian Transpose
396.4 Singularity Detection and Avoidance
40Chapter 7: Manipulator Dynamics
417.1 Mass Moments of Inertia and the Inertia Tensor
427.2 Recursive Newton-Euler Formulation
437.3 Lagrangian Formulation and the Standard Dynamic Model
447.4 Gravity Compensation and Friction Modeling
45Chapter 8: Actuators
468.1 Brushed DC Motor Model and Torque Constant
478.2 Brushless DC and Permanent-Magnet Synchronous Motors
488.3 Stepper Motors and Open-Loop Positioning
498.4 Servo Drives, Torque Constants and Thermal Limits
50Chapter 9: Sensors and Signal Conditioning
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