Kinematics and Spatial Reasoning: Analytical Geometry in Robotics and Control Systems (Paperback) (ISBN-13: 9798189306389)

Master the mathematical foundations of spatial motion and robotic control.

Kinematics and Spatial Reasoning: Analytical Geometry in Robotics and Control Systems provides a rigorous, unified treatment of the mathematical tools used to model, analyze, and control spatial mechanisms. Designed for robotics engineers, systems architects, and graduate-level researchers, this volume bridges abstract geometric theory and practical algorithm design.

By focusing on analytical geometry as the primary core framework, this book equips you to construct precise kinematic models, resolve spatial constraints, and implement robust control algorithms for complex multi-axis systems.

• Vector and Matrix Formulations: Leverage coordinate transformations, screw theory, and Dual Quaternions for spatial motion analysis.

• Forward and Inverse Kinematics: Solve complex positional and orientational kinematics for serial, parallel, and redundant robotic structures.

• Differential Kinematics and Jacobians: Analyze velocity mappings, identify kinematic singularities, and optimize system manipulability.

• Constraint Dynamics in Control: Integrate geometric spatial constraints directly into feedback control loops and dynamic trajectory generation.

• Spatial Trajectory Planning: Formulate singularity-free rotational interpolations and smooth spatial pathing algorithms.

This text is structured for mechanical, mechatronics, and software engineers developing modern autonomous systems, industrial arms, or spatial tracking frameworks. A foundational background in linear algebra, multivariable calculus, and basic dynamics is recommended.