Seth Hutchinson    

      University of Illinois at Urbana-Champaign

Robot Modeling and Control

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

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