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Robot Modeling and Control
Robot Modeling and Control
Mark W. Spong, Univ. of Illinois at Urbana-Champaign
Seth Hutchinson, Univ. of Illinois at Urbana-Champaign
M. Vidyasagar, Tata Consultancy Services
ISBN: 978-0-471-64990-8
©2006
496 pages
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TITLE INFORMATION
Description  |  Author Info  |  Table of Contents  |  Detailed Contents  |  Hallmark Features  |  Supplements
Detailed Contents
Preface.

1. Introduction.

2. Rigid Motions and Homogeneous Transformations.

3. Forward and Inverse Kinematics.

4. Velocity Kinematics-The Jacobian.

5. Path and Trajectory Planning.

6. Independent Joint Control.

7. Dynamics.

8. Multivariable Control.

9. Force Control.

10. Geometric Nonlinear Control.

11. Computer Vision.

12. Vision-Based Control.

Appendix A: Trigonometry.

Appendix B: Linear Algebra.

Appendix C: Dynamical Systems.

Appendix D: Lyapunov Stability.

Index.

 

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