Introduction to Robotics: mechanics and control
Material type: TextPublication details: Addison Wesley Longman 1999Edition: 2nd edDescription: xi, 450pISBN:- 0201525399
- 629.892 CRA/I
Item type | Current library | Home library | Call number | Status | Date due | Barcode | |
---|---|---|---|---|---|---|---|
Book | Study Centre Pandalam ,University of Kerala Processing Center | Study Centre Pandalam ,University of Kerala | 629.892 CRA/I (Browse shelf(Opens below)) | Available | USCP654 |
Includes index
Preface v
1 Introduction 1
2 Spatial descriptions and transformations 19
3 Manipulator kinematics 62
4 Inverse manipulator kinematics 101
5 Jacobians: velocities and static forces 135
6 Manipulator dynamics 165
7 Trajectory generation 201
8 Manipulator-mechanism design 230
9 Linear control of manipulators 262
10 Nonlinear control of manipulators 290
11 Force control of manipulators 317
12 Robot programming languages and systems 339
13 Off-line programming systems 353
A Trigonometric identities 372
B The 24 angle-set conventions 374
C Some inverse-kinematic formulas 377
Solutions to selected exercises 379
Index 387
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