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Textbook
Robot Dynamics and ControlISBN: 978-0-471-61243-8
Paperback
352 pages
January 1991, ©1989
 This is a Print-on-Demand title. It will be printed specifically to fill your order. Please allow an additional 10-15 days delivery time. The book is not returnable.
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Rigid Motions and Homogeneous Transformations.
Forward Kinematics: The Denavit-Hartenberg Representation.
Inverse Kinematics.
Velocity Kinematics: The Manipulator Jacobian.
Dynamics.
Independent Joint Control.
Multivariable Control.
Force Control.
Feedback Linearization.
Variable Structure and Adaptive Control.
References.
Suggested Reading.
Appendices.
Index.
Forward Kinematics: The Denavit-Hartenberg Representation.
Inverse Kinematics.
Velocity Kinematics: The Manipulator Jacobian.
Dynamics.
Independent Joint Control.
Multivariable Control.
Force Control.
Feedback Linearization.
Variable Structure and Adaptive Control.
References.
Suggested Reading.
Appendices.
Index.
Related Titles
Robotics
Resources for
Instructors
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