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Description :
Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meanings of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.
Content :
CONTENTS: Preface. Overview of Robotic Mechanisms and Controller. Kinematics. Dynamics. Manipulability. Position Control. Force Control. Control of Redundant Manipulators. Appendices—1: Function atan2. 2: Pseudo-Inverses. 3: Singular-Value Decomposition. 4: Lyapunov Stability Theory. Solutions to Selected Exercises. Index.
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