Modern robotic systems are tided to operate autonomously in real-world environments performing a variety of complex tasks. Autonomous robots must rely on fundamental capabilities such as locomotion, trajectory tracking control, multi-sensor fusion, task/path planning. Combining this knowledge is essential to design rolling, walking, aquatic, and hovering robots that sense and self-control.
This book contains a mathematical modelling framework to support the learning of modern robotics and mechatronics, aimed at advanced undergraduates or first-year PhD students, as well as researchers and practitioners. The volume exposes a solid understanding of mathematical methods as a common modelling framework to properly interpret advanced robotic systems. Include numerical approximations, linear and non-linear systems of equations, curves fitting, differentiation and integration. It is suitable for courses on robotics, mechatronics, sensing models, vehicles design and control, modelling and mechanisms analysis.