Robot Modeling and Control

Robot Modeling and Control 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