Robot Modeling and Control
Mark W. Spong,
S. Hutchinson,
M. Vidyasagar
John Wiley and Sons, Inc., 2005
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Table of Contents1. Introduction2. 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 |
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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.