Robotics Engineering Introduction: Kinematics, Dynamics, Sensors, Actuators, and Motion Control Explained Step by Step for Undergraduate Students

Understand the Engineering Principles Behind Modern Robots—From Mechanical Motion and Mathematical Modeling to Sensors, Actuators, and Intelligent Control.

How does a robotic arm calculate its position? What determines the forces and torques required to move its joints? How do sensors, motors, and feedback controllers work together to produce accurate, stable, and coordinated motion?

Robotics Engineering Introduction provides a clear, systematic, and technically grounded introduction to the essential principles of robotics engineering. Written specifically for undergraduate students, this comprehensive textbook connects mechanical engineering, electronics, mathematics, and control theory to explain how real robotic systems are designed, modeled, and operated.

Rather than presenting robotics as a collection of disconnected technologies, Dr. Nolan Gearson develops the subject progressively, beginning with robot structures and degrees of freedom before advancing through spatial transformations, kinematics, dynamics, actuation, sensing, and motion control.

Complex engineering concepts are introduced through clear explanations, mathematical derivations, detailed technical illustrations, and step-by-step worked examples, helping readers develop both conceptual understanding and analytical problem-solving skills.

WHAT YOU WILL LEARN

• Robot Fundamentals and Mechanical Structures: Understand robot classifications, degrees of freedom, joints, links, kinematic chains, workspaces, and mechanical configurations.

• Forward and Inverse Kinematics: Learn coordinate transformations, rotation matrices, Denavit–Hartenberg parameters, and mathematical methods for determining robot positions and orientations.

• Velocity Kinematics and Jacobians: Explore joint velocities, end-effector motion, singularities, and the relationships between joint motion and tool velocity.

• Robot Dynamics: Understand forces, torques, rigid-body motion, inertia, energy methods, and the fundamental equations governing robotic movement.

• Actuators and Power Transmission: Examine DC motors, brushless motors, servo drives, gearboxes, hydraulic systems, pneumatic actuators, and actuator selection.

• Sensors and Robotic Perception: Study encoders, force and torque sensors, inertial sensors, cameras, proximity sensors, signal processing, and sensor feedback.

• Feedback Control and Motion Planning: Develop an understanding of PID control, joint control, trajectory generation, path planning, and stable robotic motion.

• Mobile Robotics and System Integration: Explore wheeled robot kinematics, navigation, robot programming, controller architecture, simulation, and essential safety principles.

DESIGNED FOR STEP-BY-STEP ENGINEERING LEARNING

Each chapter builds logically on previously introduced concepts, allowing readers to progress from foundational principles to more sophisticated robotics applications without unnecessary complexity.

The textbook includes clearly explained equations, defined engineering variables and units, worked numerical examples, chapter summaries, practice problems with answers, and useful technical reference material.

WHO SHOULD READ THIS BOOK?

This book is designed for undergraduate students in mechanical engineering, electrical engineering, mechatronics, robotics, automation, and related engineering disciplines.

It is also a valuable foundational reference for engineering educators, aspiring robotics engineers, technical learners, and professionals seeking to strengthen their understanding of robotic systems.

No previous robotics experience is required, although familiarity with introductory calculus, vectors, and matrices is recommended.