 Robot Dynamics and Control
ISBN: 978-0-471-61243-8
Paperback
352 pages
January 1989
US $134.95
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Rigid Motions and Homogeneous Transformations.
Forward Kinematics: The Denavit-Hartenberg Representation.
Inverse Kinematics.
Velocity Kinematics: The Manipulator Jacobian.
Dynamics.
Independent Joint Control.
Multivariable Control.
Force Control.
Feedback Linearization.
Variable Structure and Adaptive Control.
References.
Suggested Reading.
Appendices.
Index.
Forward Kinematics: The Denavit-Hartenberg Representation.
Inverse Kinematics.
Velocity Kinematics: The Manipulator Jacobian.
Dynamics.
Independent Joint Control.
Multivariable Control.
Force Control.
Feedback Linearization.
Variable Structure and Adaptive Control.
References.
Suggested Reading.
Appendices.
Index.
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