This is a self-contained introduction to practical robot kinematics and dynamics, including a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases, and there are many worked examples, examples illustrating all aspects of the theory, and problems.
- ISBN10 047161243X
- ISBN13 9780471612438
- Publish Date 5 July 1989
- Publish Status Active
- Out of Print 14 June 2021
- Publish Country US
- Imprint John Wiley & Sons Inc
- Format Paperback
- Pages 352
- Language English