Robotics: From Theory to Practice introduces robotic theories and technologies to audiences, including university students, professionals with engineering backgrounds, and even high-school students interested in building their own robots. We aim to bridge the gap between classic theories and real-world applications of robotic manipulators, which, to date, have far exceeded the domain of conventional industry. The contents are divided into three parts. The first two cover classic theories of robotics, including kinematics, dynamics, path planning, control, and programming. Specifically, Part I is an introduction targeting junior students, featuring more simplistic topics and examples. Part II provides the senior students and professionals with more in-depth discussions on critical topics and more comprehensive examples. In Part III, we demonstrate how classic robotics theory can be extended to more advanced theoretical frameworks and adopted in real-world applications beyond conventional industries. Many development environments and programming languages are used in the industry, research, and broader hobby and enthusiast environments. However, in the context of introductory robotics, we will focus on software and programming languages that are already familiar to undergraduate students: MATLAB, C++, and Python. Furthermore, we introduce the Robot Operating System (ROS), which is a commonly used middleware for programming and controlling a physical robot.

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