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The second edition of this highly successful book introduces the science and engineering of mechanical manipulation and provides a complete overview of the fundamental skills underlying the mechanics and control of manipulators. This edition features new material on Controls, Computer-Aided Design and Manufacturing, and Off-Line Programming Systems. Each chapter introduces the fundamentals of a topic and uses specially-designed examples to demonstrate the use of these principles. The first edition was the winner of the Society of Manufacturing Engineers' M. Eugene Merchant Manufacturing Textbook Award.
- Sales Rank: #563832 in Books
- Published on: 1989-01-01
- Original language: English
- Number of items: 1
- Dimensions: 9.62" h x 1.03" w x 6.64" l,
- Binding: Hardcover
- 464 pages
Most helpful customer reviews
33 of 37 people found the following review helpful.
Typo ridden clunker...
By A discerning reader
The textbook attempts to cover basic kinematics, forward and backward chaining through the Euclidean approach to describe DH conventions, torque, and so forth. The first three chapters would lead one to expect an excellent textbook, and then the textbook descends into a nightmare.
The notation is cobbled together from so many different disciplines, we had to make study sheets to figure out what was said. There is no summary of formula or notation. Once there are a dozen notations in play, the typos begin. In chapter six alone, we counted over a dozen formulas with the wrong symbols or missing terms.
Even with these flaws, the book fails to deliver. The first half of the book has a theme: using transforms on DH conventions to derive position, accelleration, force and torque. Chapter seven covers a number of trajectory planning algorithms. The rest of the book adopts new notation and slowly explores control methods, stretching out simple solutions over many chapters. At the end, the reader still has no idea how to evaluate between the various control methods presented, aside from learning that more modeling is better. No alternatives are presented to the author's single thread, and the book misses concepts such as variable gains, force field collision avoidence, calibration, and Keynes notation.
There is a good topic in here screaming to get out. If you delve past the first four chapters, you will be screaming to get out.
17 of 19 people found the following review helpful.
Sloppy
By M. Woodruff
My advice to any student who finds that this book is required course material is to choose a different class. The instructor who chooses this book demonstrates very poor judgment.
Its introduction says this book "evolved from class notes." It hasn't evolved very far. It's sloppy, outdated, and badly typeset. None of the topics are adequately developed: 14 pages, for instance, is totally inadequate to develop control theory. Few of the references are more recent than 1990, and some of the text is almost laughably obsolete, like the paragraph discussing the expense of maintaining a table of sines in memory. (Craig cites a reference from 1981 when discussing the computation of trigonometric functions.)
While it describes itself as a book on robotics in general, this is really a book on the analysis of manipulator arms. If you are interested in other types of robotic systems, like semi-autonomous vehicles, prepare for disappointment. And if you are interested in the analysis of manipulator arms, prepare for disappointment anyway. This is a very difficult book to follow, due to the author's inconsistencies in notation and superficial coverage of important topics.
Ordinarily, the cues indicating that TeX has been used to prepare a book are subtle: good looking page layout and lots of well-formatted formulae. In this case, sadly, the book is peppered with obvious TeX mistakes. Nowhere is this more obvious than in the worked exercises in the back, where typos seem to have swallowed several section headings, and in one place "quad" has actually been printed where there was supposed to be a space (\quad). The author teaches at Stanford; if I were Donald Knuth, I would visit his office and ask him kindly to stop abusing my typesetting system.
This book reflects badly on the otherwise well-regarded Stanford robotics program, as well as on Pearson press, who should fire whoever edited this mess.
8 of 9 people found the following review helpful.
Good introduction but poor on kinematics
By student471
The first 3 chapters begin very well giving the reader decent examples with how to derive frame assignments and forward kinematic matrices. Starting with chapter 4, the book begins to descend into a nightmare of ambiguity and frustration. Typos begin cropping up every where. The author then begins to take short cuts with deriving particular formulas with no clear explanation how those formulas are derived. One example is when the author begins to explain how to solve for an inverse kinematics problem and says to use the law of cosines, but then writes a formula that is not the law of cosines with no clarification how he came to that point. Homework problems are also given, but do not reflect the few examples given within the chapter leaving the reader in a very difficult position and in most cases unable to solve the problem. I would highly recommend getting a book other than this one. If it is required for a class, make sure the teacher has sufficient supplemental material that will augment the many failings this text has.
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