Robot Modeling and Control

Mark W. Spong, S. Hutchinson, M. Vidyasagar
John Wiley and Sons, Inc., 2005

Table of Contents 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 References

Errata

Courses that use this book

• ECE 470 Introduction to Robotics at the University of Illinois
• 15-384 Robotic Manipulation at Carnegie Mellon University
• ME 752 Mechanical Design of Manipulators and Robots at the Ohio State University
• CSE 551A Robotic Manipulators at Washington University.
• BME 495 Biomedical Robotics at Northwestern University.
• M.E. 530.646 Introduction to Robotics at Johns Hopkins University
• Computer Science 290N Mathematic Elements of Structure and Behavior Modeling in Computer Graphics at UCSB
• ME586: Mechanics and Control of Robotic Manipulators Department of Mechanical, Aerospace and Biomedical Engineering University of Tennessee-Knoxville
• ECE 6-4990 at Mississippi State
• ME/AE 349 Robotic Manipulators and Mechanisms at University of Missouri-Rolla
• ENGR 466 - Integrated Mechatronics and Embedded Systems Project at University of Victoria
• FRT005F Robotics --- Kinematics, Dynamics and Control at Lund University
• Autonome Robotersysteme at Christian-Albrechts-Universitaet zu Kiel
• Robotics in the Department of Mechanical Engineering at Konkuk University, Seoul, Korea
• ME302 Introduction to Robotics I and ME406 Robotics II at Embry-Riddle Aeronautical University.
• MCE/EEC 647/747 - Robot Dynamics and Control in the Department of Mechanical Engineering at Cleveland State University.