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Description
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Robot Modeling and Control introduces the fundamentals of robot modeling and control and provides background mate-rial on terminology, linear algebra, dynamical systems and stability theory, followed by detailed coverage of forward and in-verse kinematics, Jacobians, Lagrangian dynamics, motion planning, robust and adaptive motion and force control, and com-puter vision. Both basic and advanced material is presented in a style that is readable and mathematically rigorous. The book provides relevant applications from industrial robotics and mobile robotics. Suitable for a one or two term course, this text is appropriate for undergraduate and graduate students from electrical engineering, mechanical engineering, computer science, and mathematics and can be used as a research reference. Many detailed worked examples and extensive problems illustrate theory and point the reader to more advanced topics.
Course Hierarchy:
Intro to Robotics courses at the senior/grad level in departments of Mechanical Engineering, Electrical & Computer Engineering, Computer Science, and Aerospace Engineering
Robot Dynamics & Control courses at the senior/grad level in Mechanical, Electrical & Computer, Aerospace Engineering
Nonlinear Control Theory courses at the grad level in ME, ECE, and Aero as a supplementary text
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